Queen Elizabeth visits Stirling Castle for engagement with links to her family's grisly history

Queen Elizabeth has travelled back in time to visit one of Scotland's oldest castles in a royal engagement with links to her family's history.

The monarch carried out an engagement inside Stirling Castle, the childhood home of Mary Queen of Scots and James VI and I.

Over the centuries the castle – which is now one of Scotland's most popular tourist attractions –grew into a great royal residence and a powerful stronghold.

Infamous deeds took place at the castle, including the murder of the earl of Douglas by James II and the famous battles of Stirling Bridge and Bannockburn.

It later became an important military base and eventually home to the Argyll and Sutherland Highlanders.

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Queen Elizabeth was at the castle to reopen the Argyll and Sutherland Highlanders' Museum in her role as Patron of the Argyll and Sutherland Highlanders Regimental Association.

Pinned to her purple coat was the brooch version of their badge, which features the regiment's insignia and name surrounded by a wreath of thistle.

The Queen was named Colonel-in-Chief of The Argyll and Sutherland Highlanders on her 21st birthday by her father, King George VI, and remained so until 2006 when they became part of The Royal Regiment of Scotland.

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During the visit, the Queen was presented with the keys to Stirling Castle before viewing a range of exhibitions on display which reflect the Highlanders' proud military history.

Her Majesty then unveiled a plaque to formally open The Argyll and Sutherland Highlanders' Museum.

The museum, which is located within one of the oldest surviving structures at Stirling Castle, has been closed for three years in order to undergo a significant transformation.

It is home to more than 5,000 military artefacts and documents, commemorating not only the deeds of the Regiment's soldiers, but their connections to the local Scottish communities.

Earlier the Queen received Scotland's First Minister Nicola Sturgeon during an audience at the Palace of Holyroodhouse in Edinburgh.

Queen Elizabeth is in Scotland for four days as part of her annual visit north, known as Holyrood Week or Royal Week, undertaking a range of engagements celebrating community, innovation and history.

Her Majesty's Scottish stay happens annually but was cancelled last year due to the COVID-19 outbreak.

The monarch was joined by her grandson Prince William for day one of the tour.

Later in the week the Queen will be joined by her daughter Princess Anne, the Princess Royal.

The Queen is staying at the Palace of Holyroodhouse, her official residence in Scotland.