Queen appears cheery as she makes unexpected Edinburgh visit with Sophie and Edward

Watch: Smiling Queen makes public appearance in Scotland

The Queen was beaming as she arrived in Edinburgh on Monday afternoon with senior members of the Royal Family for the start of a week-long visit to Scotland.

Her Majesty, who turned 96 in April, has recently been taking a step back from public appearances due to ongoing mobility issues and concerns about her health, but was all smiles as she arrived to take part in Ceremony of the Keys at the Palace of Holyroodhouse in Edinburgh.

The Queen was joined by Prince Edward, her youngest son, and his wife, Sophie, Countess of Wessex, for the traditional ceremony marking the monarch's week-long residence at the Palace.

During the Ceremony of the Keys, which marks the beginning of Royal Week in Scotland, the Queen is symbolically offered the keys to the city of Edinburgh by the Lord Provost in the forecourt of the Palace.

The monarch then returns them, as per tradition, entrusting their safekeeping to Edinburgh's elected officials.

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Her Majesty wore a powder blue silk wool coat and powder blue silk dress by Stewart Parvin for the ceremony in Scotland, to which her unexpected attendance was only confirmed on Monday morning.

She wore a matching pale blue hat by Rachel Trevor-Morgan which featured a purple floral arrangement, and accessorised with the Argyll and Sutherland and Royal Regiment of Scotland brooches.

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The Argyll and Sutherland brooch is a regimental insignia for the The Argyll and Sutherland Highlanders, the Guard of Honour for this year's Ceremony of the Keys.

The Queen was named Colonel-in-Chief of the regiment on her 21st birthday by her father, King George VI, and remained so until 2006 when they became part of The Royal Regiment of Scotland.