Following the Queen's departure, the royals walked on foot back towards Windsor Castle.
Prince Harry and Catherine, Duchess of Cambridge, could be seen exchanging words with the Archbishop of Canterbury. They then walked over and joined Prince William to walk together as the rest of the family left St. George's.
Meghan, Duchess of Sussex, has been unable to join the family engagement today as she is pregnant with the couple's second child and was advised not to travel from California to the UK at this time.
See the moment: