6 June 2012 Last updated at 04:46 ET
The Queen appeared with senior royals on the balcony of Buckingham Palace on Tuesday
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The Queen will continue to celebrate her Diamond Jubilee later at a lunch with Commonwealth leaders, including prime ministers and governor generals.
The meal, at Marlborough House on Pall Mall, in central London, follows four days of public celebration described by the Queen as "a humbling experience".
The Duke of Edinburgh, who was due to accompany her, is still in hospital being treated for a bladder infection.
On Tuesday, the Earl of Wessex said his father was "on good form".
Duke 'disappointed'
Prince Edward, who visited his father in the afternoon, said he was feeling better and was in "good spirits".
The Queen was joined by her consort as she began her celebrations at the Epsom Derby on Saturday and again on Sunday for the Diamond Jubilee pageant on the River Thames.
But on Monday afternoon it was announced by Buckingham Palace that he was "understandably disappointed" about missing the rest of the celebrations, including the jubilee concert that evening.
The concert, which featured performances from artists including Stevie Wonder and Sir Paul McCartney, culminated in appearance on stage by the Queen.
Prince Philip is being treated at London's King Edward VII Hospital
Following a speech by Prince Charles, in which he described his "mummy" as "a very special person", the Queen pressed a crystal into a pod, igniting a beacon in The Mall. It was one of more than 4,000 lit across the Commonwealth.
On Tuesday, the Queen attended a thanksgiving service at St Paul's Cathedral where Archbishop of Canterbury Dr Rowan Williams paid tribute to her "lifelong dedication".
"I don't think it's at all fanciful to say that, in all her public engagements, our Queen has shown a quality of joy in the happiness of others," he said.
David Cameron, who gave a reading at the service, called her "a real inspiration".
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Queen Elizabeth II: ''It has touched me deeply to see so many thousands of families, neighbours and friends celebrating together."
US President Barack Obama, meanwhile - in a video message - called the Queen "a steadfast ally, loyal friend and tireless leader".
Festivities culminated in an appearance by the senior royals on the Buckingham Palace balcony in front of huge crowds to watch an RAF flypast.
In a recorded message to the nation - broadcast later across the UK and Commonwealth - the Queen said: "The events that I have attended to mark my Diamond Jubilee have been a humbling experience.
"It has touched me deeply to see so many thousands of families, neighbours and friends celebrating together in such a happy atmosphere.
"But Prince Philip and I want to take this opportunity to offer our special thanks and appreciation to all those who have had a hand in organising these Jubilee celebrations. "
She said she hoped the memories "of all this year's happy events will brighten our lives for many years to come".
Continue reading the main story
- Probe urged into Jubilee stewards
- Flypast ends Jubilee celebrations
- As it happened: Celebrations
- Philip feeling better - Edward
The Queen will continue to celebrate her Diamond Jubilee later at a lunch with Commonwealth leaders, including prime ministers and governor generals.
The meal, at Marlborough House on Pall Mall, in central London, follows four days of public celebration described by the Queen as "a humbling experience".
The Duke of Edinburgh, who was due to accompany her, is still in hospital being treated for a bladder infection.
On Tuesday, the Earl of Wessex said his father was "on good form".
Duke 'disappointed'
Prince Edward, who visited his father in the afternoon, said he was feeling better and was in "good spirits".
The Queen was joined by her consort as she began her celebrations at the Epsom Derby on Saturday and again on Sunday for the Diamond Jubilee pageant on the River Thames.
But on Monday afternoon it was announced by Buckingham Palace that he was "understandably disappointed" about missing the rest of the celebrations, including the jubilee concert that evening.
The concert, which featured performances from artists including Stevie Wonder and Sir Paul McCartney, culminated in appearance on stage by the Queen.
Following a speech by Prince Charles, in which he described his "mummy" as "a very special person", the Queen pressed a crystal into a pod, igniting a beacon in The Mall. It was one of more than 4,000 lit across the Commonwealth.
On Tuesday, the Queen attended a thanksgiving service at St Paul's Cathedral where Archbishop of Canterbury Dr Rowan Williams paid tribute to her "lifelong dedication".
"I don't think it's at all fanciful to say that, in all her public engagements, our Queen has shown a quality of joy in the happiness of others," he said.
David Cameron, who gave a reading at the service, called her "a real inspiration".
Queen Elizabeth II: ''It has touched me deeply to see so many thousands of families, neighbours and friends celebrating together."
US President Barack Obama, meanwhile - in a video message - called the Queen "a steadfast ally, loyal friend and tireless leader".
Festivities culminated in an appearance by the senior royals on the Buckingham Palace balcony in front of huge crowds to watch an RAF flypast.
In a recorded message to the nation - broadcast later across the UK and Commonwealth - the Queen said: "The events that I have attended to mark my Diamond Jubilee have been a humbling experience.
"It has touched me deeply to see so many thousands of families, neighbours and friends celebrating together in such a happy atmosphere.
"But Prince Philip and I want to take this opportunity to offer our special thanks and appreciation to all those who have had a hand in organising these Jubilee celebrations. "
She said she hoped the memories "of all this year's happy events will brighten our lives for many years to come".