When the Queen made the decision earlier this morning that she would definitely be attending her beloved late husband Prince Philip's memorial service - military-style plans were put in place to sweep her there in the most comfortable way possible.
Earlier this month she had already missed the Commonwealth Day service at the Abbey with the decision understood to be related to her comfort travelling the 26-mile journey from Windsor Castle to London and sitting through the event, rather than a specific illness.
However, she made the journey today to honour her husband, who died last April, before making a much subdued entrance into the Abbey rather than walking the length of the building like usual.
The operation to transport the Queen from Windsor to Central London began early this morning, when she left her home alongside Prince Andrew in a Land Rover.
The Land Rover then made its way to Buckingham Palace, where several well-wishers had gathered to see her arrival at her official residence.
Once at the Palace, the Queen swapped cars and left her Land Rover to sit in her Bentley state limousine, which then made the short journey to the Abbey escorted by police outriders.
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The Bentley then parked outside the Abbey's discreet Poets' Yard entrance, which has fewer steps and is a shorter distance to where she was to sit for the service, as close to the door as possible.
According to MailOnline, the Queen sat behind the driver to minimise the difficulty of getting inside the Abbey - and her walking stick was spotted before she stepped out of the car.
Once out of the car, she is said to have took Andrew's arm as they headed inside while keeping the walking stick in her right hand.
The first time she appeared on TV cameras was when she was safely inside the building, and she took part in a short procession.
At the end of the aisle, she then let go of her son's hand and made the last few steps to her seat with just her stick.
Once the ceremony was over, she returned to the Bentley with Andrew to be driven away from the venue.
For the service today, the Queen teamed her dark green coat with a brooch that was also a nod to her "strength and stay", who passed away in April last year.
She chose her yellow gold, ruby and diamond scarab brooch, designed by Andrew Grima, which was a personal gift from Philip in 1966.
Other royal women who also opted to wear the same shade of green were the Duchess of Cornwall and Princess Anne.
This is because it is the same hue as the Duke of Edinburgh's official dark green livery colour, which was known as Edinburgh Green.
It was used for his staff liveries – the duke’s page at the coronation wore dark green and silver – and private cars.
Others in the congregation also wore dark green, including Duke of Edinburgh Gold Award holder Doyin Sonibare, who delivered a special tribute about the effect Philip’s youth scheme had on her life.
