A wave from the Duchess.
The royals were photographed arriving with William in the front seat and Kate beside the Queen in the back.
William and Kate arrived with the children on Thursday morning and have been enjoying several days with members of the family.
Prince Charles and the Duchess of Cornwall arriving.
Kate debuted a navy coat with gold buttons for the occasion.
Samantha suggests the Duchess wore the Navy Herringbone trench coat by Guinea London. The £525 piece is described as: "The Trench is an amazing and dramatic coat, which takes its inspiration from the long straight line of a military greatcoat but with the sassy flowing shape of the '60s maxi coat. Available in sizes 6 to 20, it is very flattering and easy to wear. It is shown here in Navy Herringbone - one of our House Tweeds, designed by us and woven for Guinea in Yorkshire in top quality 100% wool. The coat has complementary navy blue trims to the cuffs and back. The navy blue velvet lining on the lapels ensures that the coat looks amazing when worn open."
The Duchess teamed the coat with her very stylish £158 peacock print MICHAEL Michael Kors Women's Midi Dress in joule green. Kate debuted the piece in March for an away day in Blackpool.
It appears Kate wore the same Lock & Co hat as last year (or a very similar style). Below, Kate wearing it for a 2016 RAF service at St Clement Danes Church in London.
Crathie Kirk is a small Church of Scotland parish church in the village of Crathie. It is known as a regular place of worship for the British Royal family when they are staying in nearby Balmoral.
Queen Victoria worshipped there from 1848, and every British monarch since has attended services at Crathie Kirk. Initially, Victoria's decision to worship at Crathie Kirk caused a scandal, particularly when it was discovered that she had received communion there. As Supreme Governor of the Anglican Church of England, it was expected that she would visit the Scottish Episcopal Church, which recognised the authority of the Archbishop of Canterbury. Undeterred by criticism, she laid the foundation stone for a new, much larger, church in 1893. Below, the Kirk in 1895.
The Royal family first became interested in Balmoral in 1847 when Queen Victoria and Prince Albert visited Ardverikie on the edge of Loch Laggan which is in the west Highlands of Scotland. Their time there was marred by terrible weather - Queen Victoria mentions the 'pouring rain' many times in her diary. While at Ardverikie the son of the Queen's physician, Sir James Clark, wrote a number of letters to his father who was convalescing at Balmoral. The letters from Balmoral described blue skies and fine weather - the news of dry weather interested Prince Albert. In 1848 it was therefore suggested that the Balmoral climate would make a more suitable Scottish residence for the Queen, with the artist James Giles commissioned to make watercolours of a plan of the house. The decision was soon made to acquire the remaining 27-year lease for Prince Albert, and in 1852 Queen Victoria and Prince Albert bought the castle outright.
Victoria would later described Balmoral as "a paradise in the Highlands. All seemed to breathe freedom and peace, and to make one forget the world and its sad turmoils".
The Queen and Prince Philip have spent two months every summer at the retreat, and have a lifetime of family memories there. It is said Her Majesty is happiest there. William and Kate's own tradition of visiting the highlands began in the early years of their relationship and now continues with George, Charlotte and Louis.
The royals enjoy going for long walks, exploring all the natural beauty the estate has to offer, along with family picnics and plenty of fun and games for the children.
As we approach the end of August, members of the family will return to London ahead of their autumn schedules commencing. I think it likely we'll begin to hear engagement announcements for early September next week. Following the 'Back to Nature' installation at RHS Chelsea and Hampton Court, it will move to its final destination - to form part of a new children's garden at RHS Garden Wisley in Surrey on 3 September. I expect we'll see Kate there for the preview day. On Thursday, 5 September Charlotte will attend her first day at Thomas's Battersea where she'll join big brother George.