Queen Elizabeth honours her beloved late husband Prince Philip, attending emotional memorial service

Queen Elizabeth has used her late husband's walking stick during a memorial service celebrating his life at Westminster Abbey in what was Her Majesty's first major public appearance in five months.

The monarch's presence at the Service of Thanksgiving for the Duke of Edinburgh came after the 95-year-old cancelled a number of events of late, having suffered mobility issues.

The Queen entered the Abbey on the arm of her second son, Prince Andrew, then separated from him to walk to her seat alone, easing concerns about her health that had raised questions about whether she would attend.

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A number of Prince Philip's great-grandchildren were invited to the service, allowing his younger family members the opportunity to honour him after COVID-19 restrictions saw his funeral drastically scaled back last year.

Prince George, eight, and Princess Charlotte, six, accompanied their parents the Duke and Duchess of Cambridge, but their younger brother Prince Louis, three, was left at home, deemed too young for such an event.

Zara and Mike Tindall brought along their daughter Mia, eight, while Peter Philips was joined by his two girls, Savannah, 11, and and Isla, 10.

The Prince of Wales and Duchess of Cornwall and Princess Anne were among the last guests to be seated.

The Queen was not filmed entering the Abbey and was later seen seated in the front pew with her children.

Despite appearing frail, the Queen was resolute in her desire to attend the emotional and uplifting service.

She stood for much of the service, joining in with the hymns, and used her walking stick at times.

Her Majesty wore a brooch that was a gift from her husband of 73 years. The yellow gold, ruby and diamond brooch, made by Andrew Grima and taking the form of a scarab, was personally chosen by Prince Philip and given to his wife in 1966.

The Queen, the Duchess of Cornwall and the Princess Royal all dressed in dark green, in a tribute to Prince Philip whose livery colour was Edinburgh Green.

Other senior members of the royal family at the memorial included the Earl and Countess of Wessex and their two children, Lady Louise and Viscount Severn.

Princess Beatrice was joined by her husband Edoardo Mapelli Mozz, while Princess Eugenie arrived with her husband Jack Brooksbank.

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Prince Harry was a noticeably absent, having blamed a lack of security for not returning to the UK for his grandfather's service.

He was accused of doing "nothing but feeding his chickens" in California by veteran royal photographer Arthur Edwards shortly before the service began.

A number of royals from across Europe attended including Prince Albert of Monaco, Spain's King Felipe VI and Queen Letizia, King Willem-Alexander and Queen Máxima of the Netherlands, Queen Margrethe of Denmark, King Carl Gustaf and Queen Silvia of Sweden, King Philippe and Queen Mathilde of Belgium and King Harald and Queen Sonja of Norway.

Philip's Greek relatives were there too including Crown Prince Pavlos of Greece and Crown Princess Marie-Chantal.

The Queen had taken an active role in planning Prince Philip's memorial service, which included many aspects that were cut from his funeral service due to COVID-19 restrictions.

Orchids that formed part of the Queen's wedding bouquet were incorporated into small posies of flowers decorated throughout the Abbey.

The memorial fulfilled the Duke of Edinburgh's final wishes by incorporating the hymns, themes and guests he was denied under the UK's health regulations in April last year.

Just 30 mourners were allowed to attend his farewell at St George's Chapel at Windsor.

Prince Philip passed away on April 9, 2021, just two months shy of his 100th birthday in June.

The memorial saw the Duke of Edinburgh celebrated for his "gifts of character; for his humour and resilience; his fortitude and devotion to duty".

All flowers were red, white or blue representing Prince Philip's career in the Royal Navy, which included service during the Second World War and beyond.

The blue flowers of eryngium, known as sea holly, were another nod to his naval career and lifelong affection for the sea.

Prince Philip's beloved Duke of Edinburgh Award scheme took a central throughout the service, along with the 700 charities and organisations he supported throughout his life.

Buckingham Palace said the service would reflect Prince Philip's "dedication to family, Nation and Commonwealth and recognise the importance of his legacy in creating opportunities for young people, promoting environmental stewardship and conservation, and supporting the Armed Forces".

Queen Elizabeth appeared bright during the service, after making the journey by car with the Duke of York from Windsor Castle to London despite concerns about her comfort during the long drive.

Shortly before it was due to begin, Buckingham Palace confirmed Her Majesty's attendance saying: "The Queen is currently intending to attend the service this morning."

The service ran for just 45 minutes, with the Queen's comfort in mind.

The members of the royal family lead nearly 2000 other guests, including hundreds of charities and military personnel, to give thanks for Prince Philip's life and his contribution to the nation.

The congregation heard hear of the duke's "service as a Consort, liege man of life and limb, and of earthly worship to Her Majesty".

Prince Philip was Britain's longest-serving royal consort, supporting the Queen for 70 years after leaving active military service when Elizabeth ascended the throne in 1952.