Th royal motorcade was spotted early on Wednesday morning navigating Edinburgh's Leith tram works while travelling through the capital.
The regal vehicles were seen driving through rush hour traffic at 8.00am on June 29, turning right at the top of Leith Walk into London Road and along Blenheim Place.
The parade was escorted by a number of police officers on motorbikes and police vehicles as the Queen continues to carry out her royal duties in the city this week.
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Queen Elizebeth II arrived in the city on Monday for the annual Ceremony of the Keys traditionally held at Holyrood, to mark the start of the British monarch's week-long residence there in July.
Her Majesty seemed cheery as she attended the event smiling gleefully, dressed in a powder blue silk wool coat and dress by Stewart Parvin, paired with a hat by Rachel Trevor-Morgan.
The Queen then stood with her walking stick as she was symbolically offered the keys to the city by Edinburgh Lord Provost Robert Aldridge.
It was the first public engagement she has attended since Jubilee in May and she seemed to be looking well.
The 96-year-old Monarch has been forced to pull a number of public events recently, including the bank holiday weekend that celebrated her Platinum Jubilee, due to health issues.
It was reported last week that the royal who has been suffering from ongoing mobility issues, is planning to be in residence at the Palace of Holyroodhouse in Edinburgh all week.
However, it is thought she will now see how she feels each day before deciding if she will stay at the Palace of Holyroodhouse all week, as normal, and undertake further duties.
It is also thought she will hold an audience with Scottish First Minister Nicola Sturgeon during her time in Edinburgh.
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