The Queen and Prince Philip got a warm welcome when they arrived at Chelmsford Cathedral this morning.

It was the first stop on their visit to the county today which also includes a trip to Felsted School for lunch.

They were invited to the cathedral as part of the diocese's centenary celebrations and later met staff and volunteers based there.

Well-wishers lined the streets of Chelmsford - and hung out of their windows - this morning to see the Queen and the Duke of Edinburgh arrive in the city.

People lined the streets to welcome the Queen and Prince Philip to Chelmsford. Credit: ITV News Anglia.
People lined the street to greet the Queen and Prince Philip. Credit: ITV News Anglia.
The Queen heads into Chelmsford Cathedral for the centenary celebrations. Credit: ITV News Anglia.

The royal visitors have now moved on to Felsted School, near Dunmow, which is celebrating its 450th anniversary.

They will enjoy a very special school dinner and meet staff and students.

The Queen will also open the school's new boarding house, which replaces one that was destroyed in a fire in July 2012.