Can one have a lift? Princess Eugenie joins the Queen in her Bentley after Sunday service with the Duke of Edinburgh and Prince Andrew in Sandringham

The Queen and Prince Philip were joined by their son Prince Andrew and granddaughter Princess Eugenie at church this morning.

Her Majesty, who wore a pale pink window pane-checked coat and matching hat, attended her usual Sunday service at St Mary Magdalene Church on her Norfolk estate this morning.

The monarch then shared her car with Eugenie, 25, who was dressed to impress in a statement hat, as they returned to Sandringham. 

Her Majesty was pictured leaving the St Mary Magdalene Church on the Sandringham estate this morning where she's spending her winter break

Princess Eugenie also attended the service in a smart ensemble, teaming a white coat with a vibrant pink hat

Prince Andrew, 55, accompanied his father, 94, as they walked to and from the service dressed in dark wool coats. 

With Beatrice living in New York - where it has been reported she has a new job in a fashion investment company - Eugenie attended the service without her sister.

The princess recently returned to the UK from New York where she was working in the art world to London where she has a job at art auction house Paddle8.

She certainly glammed up for the service teaming an elegant white coat with the fuchsia cocktail hat designed by Juliette Botterill, black leather gloves and black high-heeled court shoes.

Andrew was more practically dressed with a long umbrella in his hand in case the overcast conditions turned to rain. 

Prince Andrew and Prince Philip were pictured leaving the church by foot with Andrew ready for all weathers with a large umbrella

The Queen attended a WI meeting at Sandringham on Friday, which she appears at annually at the end of her winter break at the Norfolk estate

Her Majesty sported a floral-topped hat in a pale pink and wore black gloves to keep warm in the winter weather, Eugenie was seen leaving in the Queen's car

On Friday, Elizabeth II enjoyed tea and cake with members of the Women's Institute as she made her annual visit to the Sandringham branch. 

The Queen who is patron of the WI, joins members at West Newton village hall for a post-Christmas meeting every year towards the end of her annual winter break.

She wore royal blue and she was greeted by the National Anthem sung by 25 members as she arrived in a green Range Rover.

The queen paired her blue coat with gloves to keep out the winter chill and accessorised with a jewelled brooch and pearl earrings. 

Eugenie and Prince Philip walk down to the church together with Eugenie teaming her winter coat with a clutch and heels with her fuchsia hat

Eugenie and the Duke of Edinburgh are all smiles as they walk down to the church and appear to share a joke

After the meeting, the Queen appeared to leave with a gift from the members.

Along with her sister, Princess Eugenie is known for her regular travels and has racked up an enviable total of eight holidays in just 15 months.

Her latest jaunt was a sun-kissed trip to Burma where she saw in the New Year with a group of friends. It also marked the Princess's eighth holiday since November 2014. 

She spent the weekend with her grandparents who spend their winter break at the Norfolk estate, which is a private home rather than a royal palace.

Eugenie, who is now working at London-based art auction house Paddle8 leaves in the Queen's Bentley

A police office salutes as Andrew and his father Philip walk down the path from the church with Andrew wearing a smart navy coat

Andrew overtakes his father on the walk back but appears to wait for him as Philip, wearing  along green coat, makes his way on the path the road

Each year the Queen and the Duke of Edinburgh take the train to and from the 20,000 acre estate.

It's long been a favourite of the family and the Queen's father George VI died in his sleep there in 1952.

Her Majesty normally returns to London every year within a day or so of Accession Day on February 6, the anniversary of her taking over the throne on the death of her father.