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13 June 2012, 11:18 | Updated: 30 March 2016, 13:50
The Queen was joined by the Duke and Duchess of Cambridge as she continues her Diamond Jubilee tour in the East Midlands.
The royal party travelled by train to Nottingham and made their way up to Old Market Square where a crowd of around 20,000 people had gathered.
Kate, who wore a blue teal coat by Missoni and matching hat by Rachel Trevor Morgan, smiled and chatted as she shook hands with the crowd.
The Queen also talked to people in the square, some of whom arrived at 5am, before the royal party moved into the Council House. They appeared a few minutes later on the balcony of the building to a huge cheer while the national anthem was played. William, wearing a navy suit, and Kate stood either side of the Queen and sang along as the crowd sang the words.
The Queen gave the crowd a big smile at the end of the anthem and the three royals moved inside for a reception.
See videos of the Royal Part arrive in Nottingham:
Maureen Cottee, 66, from Leicester, met Kate and shook her hand before telling her: ``Oh, you're fantastic.'' Mrs Cottee said of the encounter: ``I said 'I think you're beautiful, you look gorgeous' and she asked me what time I got here. ``I told her I arrived at around 5am and she laughed before asking 'Have you got your blanket?'.''
Brandon Morris, four, from Ilkeston, Derbyshire, was wearing a plastic crown as he waited in the crowd with his family and met William and Kate. He said he had a ``really good time'' and enjoyed meeting them. Julie Willmott, 54, from Arnold, Nottinghamshire, arrived at 7am to catch a glimpse of the Queen. She said: ``I said to the Queen 'Congratulations on the Jubilee'. ``She was gorgeous, she had a lovely smile. She was radiant and looked very youthful.''
Inside the Council House, the royal party attended a reception with invited guests and dignitaries from Nottinghamshire and Derbyshire. Margaret Handley, mayor of Broxtowe, met William and described his wit and charm. She said: ``Somebody said to him 'You look taller in person' and he said 'I'm not wearing my high heels today'.''
The Royal They are then due to travel to Vernon Park in Basford, around three and a half miles from the city centre, to mark a Fields in Trust project for the Diamond Jubilee. As patron of the Queen Elizabeth Fields Challenge - a project supported by The Foundation of Prince William and Prince Harry - the Duke of Cambridge will speak.
The Queen will unveil a plaque at the park, which has been granted Queen Elizabeth II Fields in Trust status. William and Kate will remain at Vernon Park after the Queen has left, where they will watch some sport and meet people involved in the Queen Elizabeth Fields Challenge.
The Queen will then travel to Burghley House in Stamford, Lincolnshire, which is hosting a Diamond Jubilee Picnic, before making a final stop at the Olympic swimming pool in Corby, Northamptonshire, where she will watch a high diving display.