Girls' day out: Queen and Duchess of Cambridge are all smiles at joint engagement

The pair even shared a blanket in the car beforehand.

The Queen and the Duchess of Cambridge's relationship timeline in photos

The Duchess of Cambridge and the Queen have always had a close relationship, with Kate speaking about Her Majesty’s caring nature during an interview to mark her 90th birthday in 2016. With the duchess set to be William’s Queen Consort when he takes the throne in future, she’s got a good mentor in the 92-year-old monarch. Kate began dating William at university in 2003 and she reportedly met the Queen for the first time at  Peter and Autumn Phillips’ wedding in 2008.  William proposed in November 2010 and the couple were married in April 2011, when the Queen gave them the titles of the Duke and Duchess of Cambridge. Kate and Her Majesty had their first official engagement together in Leicester in March 2012, to mark the first date of the Queen’s Diamond Jubilee tour of the UK. Before that, they viewed Kate’s Alexander McQueen wedding dress on display at a Buckingham Palace exhibition. Since then, they’ve hosted receptions at the palace together and have been present on the famous balcony for annual events such as Trooping the Colour. They also enjoyed a girls day out together with Camilla, Duchess of Cornwall in 2012, when they visited London’s Fortnum & Mason. The Duchess of Cambridge appears to have taken some style lessons from Her Majesty, favouring block coloured shift dresses and bold coats. She’s even borrowed jewellery from the royal vaults, including tiaras, brooches and earrings. Take a look at Kate and the Queen’s best moments together over the years.

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Kate Middleton's modern makeover continued on Tuesday morning as she stepped out to visit the Henry Fawcett Children's Centre in Kennington wearing a pair of wide-leg trousers and a statement shirt. The engagement is the second time the Duchess of Cambridge has ditched royal-appropriate dresses for the smart trouser shape, the first time was during a trip to Cyprus in December 2018. Although seeing Kate in a contemporary trouser is rare, the duchess styled the Jigsaw item perfectly, offsetting the androgynous bottom half with a feminine pussy-bow shirt.

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The duchesses were reunited at the Commonwealth Day service.

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Remember this cute moment?

The royal family attend Commonwealth Day service in London

The Dukes and Duchesses of Sussex and Cambridge joined the Queen for the annual service

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Kate Middleton's blue cape coat is amazingly chic and we are obsessed

The Duchess of Cambridge looked incredible on Thursday on the second day of the royal visit to Northern Ireland with husband Prince William. The royal pair visited charity Cinemagic to see how they use film, television and digital technologies as a means to educate, motivate and inspire young people. Kate, 36, looked stunning in her latest outfit - which consisted of a retro style, baby blue cape coat dress by Mulberry with a chic belted waist. She added navy blue high heel shoes and carried a smart box clutch. The royal wore her hair loose and bouncy and looked incredible rocking flawless makeup. The Duchess looked super fresh despite the fact she had a late night - wowing at the Belfast Empire Hall. The glamorous mum-of-three looked stunning in a shimmering green Missoni dress which she paired with a pink Mulberry clutch and matching Gianvito Rossi heels. Kate looked incredible in her cape coatOver the last 30 years, Cinemagic has delivered highly successful Young Film Programmers/Consultants panels and Young Film Critics panels and the learning outcomes have been immeasurable in terms of developing literacy skills, appreciation of the world around us and creating active and memorable learning.Kate sported her famous blowdry and brown eye makeupWilliam and Kate looked to be thoroughly enjoying themselves as they met with workers and looked around the establishment. Kate's coat was a past-seaon Mulberry buyWe've been keeping tabs on the royal couple since they arrived in Belfast on Wednesday morning for a two-day visit of the country, where they are known as Baron and Lady Carrickfergus.MORE: The bling statement earrings that Kate Middleton would go crazy forOn her first engagement of the day, Kate chose to rock a gorgeous red Carolina Herrera coat – which she had previously worn in Paris.Loading the player...Keeping the rest of her outfit plain, she teamed the outerwear staple with a black jumper, jeans and L.K. Bennett boots. READ: Kate Middleton's favourite discontinued beauty product is back - and we're SO excited

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