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She's not forgotten how to curtsey! Fergie joins Andrew and Beatrice as they greet the Queen at Ascot

Duchess of York attended race meeting his ex-husband Prince Andrew and daughter Beatrice
Curtsied to the Queen as she pulled up in a horse drawn carriage
Princess Beatrice wore pale green dress and navy cropped jacket
Ex-wife of Prince Andrew covered up in cream coat with black bow details

Published: 14:24 GMT, 17 June 2016 | Updated: 15:50 GMT, 17 June 2016

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Not everyone feels too delighted to see their mother-in-law, especially when divorce means you're no longer part of the family.

But the Duchess of York, 56, today proved her legendary fondness for the Queen as she waved joyously to the monarch as her carriage arrived at Royal Ascot.

The mother to Princesses Beatrice and Eugenie hasn't been a member of the royal family for more than two decades, but she proved that she hasn't forgotten how to curtsey as she bobbed in deference to the monarch.

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The Duchess of York showed that she hasn't forgotten royal protocol today as she curtsied to the Queen as her carriage arrived at Royal Ascot

The monarch wore an elegant pink hat with a large feather embellishment

Showing her enthusiasm: The Duchess looked especially animated as she chatted with guests in the Royal Box

Princess Beatrice waved enthusiastically to her grandmother, while Prince Andrew looked equally happy to see the monarch as he stood proudly to attention.

There were no flimsy frocks for the Duchess who covered up in a cream coat with black bows at the sleeves and waist.

She eschewed high heels for a pair of black ballet flats and accessorised with a black wide brimmed hat which was decorated with a spray of white flowers.

Meanwhile Beatrice wore a pale green dress and navy cropped jacket and her hat by milliner Sarah Cant matched the colours of her outfit perfectly.

The Duchess clearly feels at ease mingling in royal circles again and was seen in animated conversation with a fellow racing fan

The Duchess has joined the royals at Ascot for the second year running

The Duchess wore a cream coat dress with black bows at the sleeves and waist, and she eschewed high heels for a pair of black ballet flats

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From the trooping of the colour to a street party held in honour of the queen’s official ninetieth birthday on the mall and now Ascot, it’s been a busy week for the royal family!

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The Queen was expected to turn out in purple today but surprised onlookers by opting for pink for the second time this week

The Duchess of Cornwall in the pre-parade ring looking at the horse she co-owns with the Prince Of Wales

It was a family day out for the royals who were joined by the Queen's cousin Prince Michael of Kent and his wife, who also joined the party to watch yesterday's Gold Cup.

She appeared to be having a wonderful day out, throwing her head back and laughing as she rode in a carriage with Princess Sarvath al-Hassan who is the wife of Prince Hassan bin Talal of Jordan.

The Duke of Edinburgh is said to have a frosty relationship with his former daughter-in-law, but if he was aggrieved at seeing her there was certainly no sign of it.

The Prince of Wales and the Duchess of Cornwall engage in conversation in the pre-parade ring

Camilla looked elegant in a pale pink coat with white lace and bead embellishment

The Royal Procession arrives with the Queen and The Duke of Edinburgh

Indeed, all the royals seemed to be in great spirits despite a sad finale to yesterday's events when the Queen's horse Guy Fawkes had to be put down after breaking his foot in the King George V Stakes.

Today, the Duchess of Cornwall and Prince Charles had a special interest in proceedings, arriving to inspect a horse they co-own in the pre-parade ring.

Camilla looked elegant in a pale pink coat with a white lace trim and wore a delicate pink hat with a large corsage.

She accessorised with cream gloves and carried a nude leather box clutch.

Prince Philip doffed his top hat as the royal carriage pulled up to the parade ring

Prince Philip, who celebrated his 95th birthday last week waved cheerily to onlookers as he arrived in the carriage procession

The Queen smiles as she arrives into the Parade Ring on the fourth day of Royal Ascot

Princess Michael of Kent appeared to be having a wonderful day out, throwing her head back and laughing as she rode in a carriage with Princess Sarvath al-Hassan who is the wife of Prince Hassan bin Talal of Jordan

The Queen's cousin Prince Michael of Kent (right) joined the family festivities with his wife and both were clearly in great spirits as they enjoyed their day out

Princess Michael of Kent went for head to toe neutrals including a belted beige coat over a matching dress

Prince Philip, who celebrated his 95th birthday last week waved cheerily to onlookers as he arrived in the carriage procession.

The monarch herself surprised racing fans by wearing pink for the second time this week.

Bookmakers have been taking novelty bets on the colour of her outfit all week and she left punters disappointed by failing to wear blue on Tuesday or Wednesday.

The Duchess of York clutches a racing programme as she chats to fellow guests

Fergie, left, greeting the Queen has remained close to both her ex-husband and former mother-in-law

The Duchess never remarried after her split from Prince Andrew in 1992

Beatrice chatted to her mother as they waited for the Queen's carriage to arrive

The close relationship between Fergie and Prince Andrew has long prompted speculation that they will rekindle their relationship

Fans were eager to snap a photo of the royals on their camera phones

Today she was expected to turn out in purple, however she wore a coral pink coat and matching hat with feather detailing.

The Duchess remains close to her ex-husband Prince Andrew who she separated from in 1992.

They divorced four years later, but their continued closeness has often prompted speculation that they would rekindle their relationship.

While his brother Prince Charles found happiness with his second wife, the Duchess of Cornwall, Prince Andrew has never remarried

The Queen arrived with Prince Philip who celebrated his 95th birthday last Friday

The royal coule travelled to the races with the Duke of Fife and Viscount Linley

Yesterday's races came to a sad finale for the Queen when her horse Guy Fawkes was injured and had to be put down

The Duchess sensibly carried an umbrella in case the heavens opened

Fergie too has remained single, but was recently linked to artist Manuel Fernandez.

She was reportedly heartbroken when their relationship of a year broke down, however she was since insisted they were nothing more than friends.

Meanwhile, her ties to the royal family have been re-affirmed with every passing year.

A few summers back, she was invited by the Queen to Balmoral, her first visit to the house since the Nineties.

She has also attended various charity events in royal palaces, and in autumn 2014, the Queen even gave her permission to host one herself, for Children in Crisis, at Windsor Castle.

In 2015, for the first time in years, she was invited to accompany Prince Andrew to the Royal Enclosure at Ascot.

There, too she curtseyed to the Queen, who waved cheerfully at them both, though, apparently, Prince Philip looked horrified when he saw his son’s former wife.

The Duke of Edinburgh is said to remain horrified by various scandals, including being exposed offering access to Prince Andrew for £500,000