Published: 00:01, 13 October 2016
The Queen visited Medway today for the first time in nine years.
Her Majesty was at Brompton Barracks to mark the 300 anniversary of the Corps of Royal Engineers - and you can see how the day unfolded here.
During her visit, The Queen, who is the Colonel-in-Chief of the Corps of Royal Engineers, inspected the 140 troops based at the barracks in Chatham.
After the parade, met military personnel and viewed examples of the heavy specialist equipment used by the Royal Engineers.
Her Majesty last visited the Corps of Royal Engineers at Brompton Barracks in 2007. During that visit the Queen inspected the Honour Guard, met groups of Sappers, chatted to trainees and families and had her photograph taken with personnel.
She was accompanied by the Chief Royal Engineer, General Sir Kevin O'Donoghue.
A crowd of people lined the pavements outside to catch a glimpse of Her Majesty when she arrived in a dark Bentley surrounded by a police escort on motorbikes.
Before that The Queen had previously visited the barracks in May 1987, when she opened the Royal Engineers Museum.