Prince Charles joins the Queen for Garter Day service at Windsor Castle

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The Queen was joined by other senior royals as she led celebrations at the annual Order of the Garter today
Her Majesty arrived by chauffeur-driven limousine while other royals walked through the castle grounds
Among senior royals to accompany the Queen was her son the Prince of Wales and the Duke of Cambridge
The ceremony is part of a 700-year tradition and honours those who have been knighted for public service

By Alexander Robertson For Mailonline

Published: 10:03 EDT, 18 June 2018 | Updated: 19:12 EDT, 18 June 2018

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The Queen was joined by senior royals as she led celebrations at the annual Order of the Garter today.

Her Majesty arrived at the chapel by state limousine while the majority of members of the order, including the Prince of Wales and Duke of Cambridge, processed through the grounds of the castle to the event.

Wearing velvet robes and a plumed hat, the Queen, who is sovereign of the order, waved from her chauffeur-driven car to the waiting crowds outside Windsor Castle, where just one month ago her beloved grandson Prince Harry married Meghan Markle.

Today's ceremony is part of a 700-year tradition founded by Edward III in 1348, and honours those who have been knighted in recognition of their public service.

Knights of the Garter are chosen personally by the Sovereign to honour those who have held public office, who have contributed in a particular way to national life or who have served the Sovereign personally.

Prince Philip, who effectively retired from official public duties last August, did not attend today's ceremony. He last took part in 2016, after the Queen was forced to cancel last year's Order of the Garter for the first time since 1984 because a snap General Election meant it clashed with the State Opening of Parliament.

Wearing velvet robes and a plumed hat, the Queen, who is sovereign of the order, waved from her horse and carriage to the waiting crowds outside Windsor Castle, where just one month ago her beloved grandson Prince Harry married Meghan Markle

The Prince of Wales and the Duke of Cambridge attending the annual Order of the Garter Service

Her Majesty was joined by her son Prince Charles and grandson Prince William (right) to take part in the 700-year-old tradition

Britain's Prince Andrew departs after attending the Order of the Garter ceremony and service at St. Georges's Chapel

Former British Prime Minister John Major in his role as a Knight Companion walks in the procession to arrive

Camilla, Duchess of Cornwall wore a pretty floral jacket to the event

What is the Order of the Garter? How King Edward III was so inspired by tales of King Arthur he set up his own group of knights almost 700 years ago

In medieval times, King Edward III was so inspired by tales of King Arthur and the chivalry of the Knights of the Round Table that he set up his own group of honourable knights, called the Order of the Garter.

Nearly 700 years later, the Order is the oldest and most senior Order of Chivalry in Britain. The Knights, now both male and female, used to be limited to aristocracy, but today they are chosen from a variety of backgrounds, in recognition for their public service.

The patron saint of the Order is St George (patron saint of soldiers and also of England) and if there are vacancies in the Order, appointments are announced on St George's Day (23 April).

The spiritual home of the Order is St George's Chapel, Windsor. Every knight is required to display a banner of his arms in the Chapel, together with a helmet, crest and sword and an enamelled stallplate.

These 'achievements' are taken down on the knight's death and the insignia are returned to the Sovereign. The stallplates remain as a memorial and these now form one of the finest collections of heraldry in the world.

As sovereign and heir, The Queen and Prince Charles are automatically given membership of the Order and are considered 'ex officio knights'. The Prince of Wales is known as a Royal Knight Companion of the Garter.

The sovereign, known as the Sovereign of the Garter, is the only one with the power to admit new members.

The Garter is open to British and Commonwealth citizens. Notable former members include Sir Winston Churchill, Stanley Baldwin and Sir Edmund Hillary.

Field Marshall, the Lord Bramall, a former Chief of the Defence Staff, the Duke of Abercorn, the Duke of Westminster and Baroness Manningham-Buller, the former Director-General of MI5, are among the current Knights and Ladies of the Garter.

There are also two orders of 'extra' knights. Members of the Royal Knights and Ladies include Prince Philip, Prince Andrew, Prince Edward, Prince Charles, the Princess Royal and Prince William.

A second order, the Stranger Knights and Ladies, is bestowed on foreign rulers such as Queen Margrethe II of Denmark and Harald V of Norway.

Although new additions are named on St. George's Day, the 23 April, the initiation ceremony takes place in Junmantle during the traditional Garter Procession, which sees members parade through Windsor.

The annual iconic Garter Day procession, where The Queen and the Knights process in grand velvet robes, glistening insignia and plumed hats, is one of the most traditional ceremonies in the Queen's calendar.

Every June, a grand procession of the knights takes place at Windsor Castle, accompanied by a marching band and Officers of the Order, all in grand ceremonial dress.

The day begins with The Queen formally investing any new Companions with the Order's insignia in the Throne Room of the Castle. The Queen and The Duke of Edinburgh entertain the members and officers at a lunch, and then all process on foot to a service in St. George's Chapel.

There is a short service where any new Companions are installed. The Sovereign and other members of the Order then return to the Upper Ward of the castle in carriages and cars.

Her Majesty arrived at the chapel by state limousine while the majority of members of the order processed through the grounds of the castle to the event

Knight Companion, The Viscount Brookeborough (pictured left) and Lady Companion, Dame Mary Fagan (right) were invested with the Order’s insignia by the Queen

Queen Elizabeth, Camilla Duchess of Cornwall and Prince Charles depart after attending the Order of the Garter ceremony

Adoring crowds waited patiently in the sun this afternoon for the official ceremony to start and for the arrival of Her Majesty

The Queen and Prince Andrew departing after attending the Order of the Garter ceremony and service at St. Georges's Chapel in Windsor today

The Queen and Prince Charles, as sovereign and heir, are automatically given membership of the Order and are considered 'ex officio knights' with the power to admit new members.

Two appointments are being made in today's ceremony, due to two current vacancies in the order following the deaths of Sir Ninian Stephen and Sir William Gladstone since the previous ceremony in 2017.

Lady Companion, Dame Mary Fagan, and a Knight Companion, The Viscount Brookeborough, were invested with the Order’s insignia by the Queen.

Dame Mary Fagan, DCVO served as Lord-Lieutenant of Hampshire between 1994 and 2014 and was also Chancellor of the University of Winchester from 2006 until 2014.

Alan Henry Brooke, 3rd Viscount Brookeborough has served as Personal Lord in Waiting to The Queen since 1997 and has been Lord Lieutenant of Co. Fermanagh, Northern Ireland since 2012.

He served with HM Armed Forces between 1971 and 1994, with 17th/21st Lancers, the Ulster Defence Regiment and the Royal Irish Regiment.

The Garter is open to British and Commonwealth citizens, with former Prime Minister Sir John Major and Lord Sainsbury numbered among the 23 current members.

There are also two orders of 'extra' knights. Members of the Royal Knights and Ladies include Prince Philip, Prince Andrew, Prince Edward, Prince Charles, the Princess Royal and Prince William.

The Monarch cheerily waved to the crowds gathered outside the castle for the historic ceremony

The Queen sat next to Camilla the Duchess of Cornwall as they left Windsor Castle after the Order of The Garter Service

The Queen and Prince Charles, as sovereign and heir, are automatically given membership of the Order and are considered 'ex officio knights' with the power to admit new members

The Queen walks down the steps to her carriage following the Order of the Garter service at Windsor Castle this afternoon

The Queen (pictured arriving in her chauffeur-driven car) has been joined by other senior royals as she led celebrations at the annual Order of the Garter today

Left, Prince Edward, Earl of Wessex and right, Former Prime Minister Sir John Major who is numbered among the 23 current members

Prince Charles, in his role as a Royal Knight Companion of the Garter and Prince William, whose role is a Knight Companion

Members of the Royal Knights and Ladies include Prince Philip, Prince Andrew, Prince Edward, Prince Charles, the Princess Royal and Prince William (pictured with his father)

The Queen and Prince Charles, as sovereign and heir, are automatically given membership of the Order and are considered 'ex officio knights' with the power to admit new members

Left, Prince Charles and right, Sir John Major. Both delighted the crowds who waited in the glorious sunshine outside Windsor Castle to watch the impressive spectacle

Prince William tips him plumed hat after attending the Order of the Garter ceremony and service on Monday afternoon

The Countess of Wessex (left) and Prince Andrew (right) leaving Windsor Castle's chapel on Monday afternoon

Prince William (right), Prince Edward (centre) in their roles as Knight Companions and Edward's wife Sophie Countess of Wessex leave in a carriage after the Order of The Garter Service at Windsor Castle in Windsor

Perfect day for it: Yeoman of the Guard walk in a procession before the Order of the Garter Service at Windsor Castle

Formation: The Knights of the Garter, guards, military and members of the Royal family surround the west steps

The sovereign, known as the Sovereign of the Garter, is the only one with the power to admit new members

The Queen, who is sovereign of the order, arrived at the chapel by state limousine while the majority of members of the order, including the Prince of Wales and Duke of Cambridge, processed through the grounds of the castle to the event

Today's ceremony is part of a 700-year tradition founded by Edward III in 1348, and honours those who have been knighted in recognition of their public service

The Duchess of Cornwall (left) and Sophie, Countess of Wessex, (right) looked resplendent in their A-line dresses and bespoke hats

The Prince of Wales attending the annual Order of the Garter Service at St George's Chapel, Windsor Castle

Prince Edward, Duke of Kent (front left), Princess Anne, Princess Royal (front right), Prince Andrew, Duke of York (centre), Prince Charles, Prince of Wales (back left) and Prince William, Duke of Cambridge (back right)

Britain's Prince Andrew, Duke of York, Britain's Prince William, Duke of Cambridge, Britain's Prince Edward, Earl of Wessex and Britain's Sophie, Countess of Wessex attend the event

Guards of the Blues and Royals regiment and the military band march around the crowds waiting for Royal family and The Knights of the Garter to arrive

A ceremonial guard take their places left and right along the route of a procession on Monday afternoon

The Knights of the Garter, guards, military and members of the Royal family surround the west steps after the Most Noble Order of the Garter Ceremony at St George's Chapel, Windsor Castle in Windsor

The Order of the Garter is the senior and oldest British Order of Chivalry, founded by Edward III in 1348. The Garter ceremonial dates from 1948, when formal installation was revived by King George VI for the first time since 1805. Pictured, the royals marching through Windsor ahead of the ceremony

Hundreds gathered in Windsor to watch the historic spectacle of the Queen and Knights of the Garter attending the Garter service.

Crowds gathered in the castle grounds were treated to the sight of Garter Knights walking past wearing lavish blue velvet robes and black velvet hats with white plumes.

The appointment of Knights of the Garter is in the Queen's gift and is made without consulting ministers.

Recipients of the honour are chosen because they have held public office, contributed to national life or served the sovereign personally.

Other members of the order include former prime minister Sir John Major, Lord Phillips of Worth Matravers, a past president of the Supreme Court, and Admiral Lord Boyce, a former head of the UK's armed forces.

Today, the Order includes the Queen, who is Sovereign of the Garter, several senior Members of the Royal Family, and twenty-four knights chosen in recognition of their work

Britain's Prince William attends the Most Noble Order of the Garter Ceremony at St George's Chapel at Windsor Castle

Former British Prime Minister John Major in his role as a Knight Companion walks in the procession

Left, the Prince of Wales and the Duke of Cambridge and right, Her Majesty. On Garter Day, The Queen and The Duke of Edinburgh entertain the members and officers at a lunch, and then all process on foot to a service in St. George's Chapel

Hundreds gathered in Windsor to watch the historic spectacle of the Queen and Knights of the Garter

Prince Andrew, Duke of York (back left), Prince William, Duke of Cambridge (back right), Prince Edward; Earl of Wessex (front left) and Sophie, Countess of Wessex ride in a carriage after the ceremonial service

Queen Elizabeth II and Camilla, Duchess of Cornwall attend the Order Of The Garter Service at Windsor Castle

Every June, a grand procession of the knights takes place at Windsor Castle, accompanied by a marching band and Officers of the Order, all in grand ceremonial dress

The Yeomen Warders of Her Majesty's Royal Palace march behind members of the Royal Family

The Royal Standard flying above Windsor Castle before the annual Order of the Garter Service

Guards of the Blues and Royals regiment and the military band march as the crowds wait for the Royal family and The Knights of the Garter to arrive prior to the Order of The Garter Service at Windsor Castle