The Queen and the Duke and Duchess of Cambridge were greeted with a huge cheer as they arrived in Nottingham on the latest leg of the Diamond Jubilee tour.
William and Kate arrived at the city by car and met dignitaries ahead Queen's arrival on the Royal Train.
The Queen was greeted by William and Kate as she got off her train and the duke was heard to compliment her on her hat.
The Duke of Edinburgh was originally scheduled to join the Queen and William and Kate on the trip but has had to cancel as he continues to recover from a bladder infection.
The Queen was wearing a silk tweed double breasted Stewart Parvin coat and shift dress with shades of turquoise, grey and ivory.
Her hat, in the same colour, was by Rachel Trevor-Morgan. The duke was heard to compliment her on her hat as she disembarked the train.
Around 20,000 people were estimated to have gathered to see the Queen and Duke and Duchess as arrived at the Old Market Square in the city centre. Some people had arrived as early as 5am to wait for the royal arrival. Members of the crowd could be heard shouting "We love you".
The Queen also talked to people in the square, some of whom arrived at 5am, before the royal party moved into the Council House.
They appeared a few minutes later on the balcony of the building to a huge cheer while the national anthem was played.
Inside the Council House, the royal party attended a reception with invited guests and dignitaries from Nottinghamshire and Derbyshire.
Margaret Handley, mayor of Broxtowe, met William and described his wit and charm.
She said: "Somebody said to him 'You look taller in person' and he said 'I'm not wearing my high heels today'."
The royal party was greeted by the Robin Hood Rifles band as they arrived to cheers from the crowds at Vernon Park in Basford, around three-and-a-half miles from the city centre.
The park is one of 1,300 recreational spaces to be given Queen Elizabeth II Fields Challenge status so far.
The Queen Elizabeth II Fields Challenge is an initiative by the Fields In Trust charity which is aiming to protect 2012 recreational spaces across the UK as a permanent legacy to mark the Jubilee.
"This is an exciting day, this is a historic day for Nottingham," said Gyles Brandreth, vice president of the Fields In Trust, of which the Queen is patron.
The BBC One Show star added that the Duke of Edinburgh, who has been president of the charity for 64 years, was here "in spirit".
William fired a fake pistol to start The Diamond Jubilee Dash - an obstacle race including pupils from several local schools.
Isabelle Weall, eight, who lost parts of her arms and legs after contracting meningitis two years ago, said Kate was "really chatty".
She said: "We were really nervous. We had to stand in a line and then she came over.
"She was really chatty. We were not expecting her to be so chatty."
Isabelle, who met the Duchess of Gloucester when she was in hospital, said she thought the royal may have remembered her and mentioned her to William and Kate.
Molly McCormick, 12, gave flowers to the Queen and said afterwards: "It was really exciting. The Queen was very smiley and said thank you for the flowers."
Ronald and Kaylet Smedley, 86 and 80, who celebrate their diamond wedding anniversary this year, were in the crowd and told William they had been married for 60 years.
Mrs Smedley said: "He asked 'are you still speaking to each other'."
The royals smiled and waved at the crowd as they got into a waiting car outside the Council House at the end of their 50 minute visit.