Also present were the Queen’s youngest son, Prince Edward, with his wife Sophie and their children, and Princess Eugenie, Prince Andrew’s daughter.
The Queen, who turns 96 on Thursday, celebrates her platinum jubilee this year, marking 70 years on the throne.
She has reduced her public duties on the orders of her doctors since spending a night in hospital in October, and also had a bout of COVID-19 in February. She attended a memorial service last month for her late husband, Prince Philip, and continued to meet diplomats and politicians virtually.
On Thursday she was visited by her grandson Prince Harry and his wife Meghan – the first time the couple have visited the UK together since they left the royal family in 2020 and moved to California.
Harry and Meghan visited the Queen in Windsor, 32 kilometers west of London, on their way to the Netherlands for the Invictus Games. Harry is the founder and sponsor of the international athletic competition for injured or ill service members and veterans.