The Queen beams as she is cheered by waiting crowds yesterday

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The sunshine brought people on to the streets to catch a glimpse of the monarch, wearing an outfit created by her personal designer, Angela Kelly. The Queen, 92, recognised the sacrifice of members of the unit, saying they were an "integral part of the well-being of our Armed Forces" as they gathered at the Guards' Chapel in Wellington Barracks. "They have remained quietly dedicated and steadfast in their calling, providing spiritual support, moral guidance and pastoral care to all soldiers, wherever they serve," she wrote in a letter to mark 100 years since the department was granted the prefix "Royal".

Formed in 1726, the unit was given the title by her grandfather, King George V, on February 22, 1919, in recognition of their "outstanding service and sacrifice" during the First World War. Army chaplains are trained officers who wear the British Army uniform and travel overseas with units, but do not bear arms. Following the service the Queen, who is patron of the department which has 129 serving chaplains, viewed three paintings commissioned to commemorate the centenary. The artist, Harry Parker, lost both his legs while on active duty with the Rifles Regiment in 2009.