Around 200 people gathered to watch the Queen arrive at a church service on the 59th anniversary of her accession to the throne.
The Queen chatted to well-wishers and accepted flowers from children after attending the service at the St Peter and St Paul Church in West Newton, Norfolk, with the Duke of Edinburgh.
Security was tight and more than 20 police kept a close eye on crowds gathered outside the church.
The Queen and Duke of Edinburgh have spent Christmas and the New Year in the royal residence at nearby Sandringham.
They are due to return to Buckingham Palace on Monday.
George VI – the Queen’s father – died in his sleep while staying at Sandringham early on February 6 1952.
Royal gun salutes are usually fired around the country on Accession Day.
This year salutes will be fired at on Monday because Accession Day falls on a Sunday.