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Queen smiles and waves to fans as she comfortably steps off the Royal Train in Edinburgh

The Queen greeted fans in Scotland with a wave and a smile when she arrived in Edinburgh as part of her first outing since the Platinum Jubilee.

A royal aide stood ready to help Her Majesty down the stairs to the platform, but she descended unassisted, dressed in a powder-blue coat with a pearl-and-diamond hat.

Her Majesty is shown getting off the royal train and smiling before waving to her fans.

Police officers stand in front of the entourage that soon fills the platform as the Queen departs with her cane.

The images come as the Queen embarks on her traditional journey to Scotland on Monday for a week of royal events.

An assistant helps Her Majesty down the stairs to the platform in Edinburgh

An assistant helps Her Majesty down the stairs to the platform in Edinburgh

Her Majesty is shown getting off the train before waving at the camera and leaving

Her Majesty is shown getting off the train before waving at the camera and leaving

The 96-year-old, who has been cutting back on public gatherings due to mobility issues, showed no sign of discomfort in handling the trip.

Royal sources ahead of the anniversary said the Queen would miss the Epsom Derby for the third time in her reign to “set the pace” for the festivities, which took place over a four-day weekend marking her 70 years on the throne.

But she was all smiles as she took part in the historic Ceremony of the Keys on Monday – the traditional opening of Holyrood week for the royal family.

The Queen, who has a deep love for Scotland, has been joined by her youngest son, Edward, and his wife, Sophie, known as the Earl and Countess of Forfar while in Scotland, for the event, which takes place at the palace of Holyroodhouse.

During the ceremony, the Queen presented the keys to the city and welcomed her “ancient and hereditary kingdom of Scotland.”

A guard of honor was provided by the Balaklava Company, The Argyll and Sutherland Highlanders.

Her Majesty hopes to complete several assignments this week – and will meet Scottish Prime Minister Nicola Sturgeon during her stay.

The Queen seemed delighted to participate in the ceremony at the Palace of Holyrood House

The Queen seemed delighted to participate in the ceremony at the Palace of Holyrood House

The Queen smiled as she arrived in Edinburgh today as she continues her public duties - her first since the Jubilee

The Queen smiled as she arrived in Edinburgh today as she continues her public duties – her first since the Jubilee

Her children, including Prince Charles, will be supporting her all week – but Prince Andrew will stay away due to controversy over his settlement with Virginia Roberts Giuffre – a victim of abuse from his friend Jeffrey Epstein.

Dressed in a powder blue silk wool coat and dress by Stewart Parvin, paired with a hat by Rachel Trevor-Morgan, the Queen was symbolically presented with the keys to the city by Edinburgh Lord Provost Robert Aldridge.

Tradition dictates that the monarch return them and entrust their safekeeping to the elected officials of the city.

The Queen was accompanied by her youngest son, Edward, and his wife, Sophie, known as the Earl and Countess of Forfar while in Scotland.

The guard of honor was provided by the Balaklava Company, the Argyll and Sutherland Highlanders, 5th Battalion The Royal Regiment of Scotland, who were inspected by Edward in the palace forecourt during the ceremony.

Music was provided by the pipes and drums of the Royal Highland Fusiliers, 2nd Battalion the Royal Regiment of Scotland and the Band of the Royal Regiment of Scotland.

Queen Elizabeth II meets Lord Provost Robert Aldridge during the Ceremony of the Keys in the forecourt of the Palace of Holyroodhouse in Edinburgh

Queen Elizabeth II meets Lord Provost Robert Aldridge during the Ceremony of the Keys in the forecourt of the Palace of Holyroodhouse in Edinburgh

The Lord Provost speaks to Her Majesty as officials salute the 96-year-old monarch

The Lord Provost speaks to Her Majesty as officials salute the 96-year-old monarch

Royal Regiment of Scotland during the Ceremony of the Keys in the forecourt of the Palace of Holyroodhouse in Edinburgh.

Royal Regiment of Scotland during the Ceremony of the Keys in the forecourt of the Palace of Holyroodhouse in Edinburgh.

The trip comes after the Queen’s recent platinum anniversary celebrations, in which she pledged to continue her work “supported to the best of my ability by my family.”

Charles, known as the Earl of Rothesay in Scotland, and the Princess Royal will all take part in a series of public appearances north of Hadrian’s Wall in the coming days.

However, Andrew, known as the Earl of Inverness in Scotland, no longer performs public duties and will not be involved.

Last weekend, it came to light that the Queen has defied the doctors by getting back into the saddle on her beloved horses – just days after she was seen without the walking stick she’d been relying on lately.

Nine months after she was advised to stop riding, the 96-year-old monarch has reportedly been riding on horseback in Windsor.

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