The King and Queen, along with the Prince and Princess of Wales and their children, have attended a Sunday service at a church near the Balmoral estate.

Troops from Balaklava Company, 5th Battalion Royal Regiment of Scotland, provided a guard of honour as the family members arrived at the tiny granite Crathie Kirk in Aberdeenshire.

The soldiers lined up on both sides of the leafy driveway leading up to the church, and the fleet of cars passed between them as they took their royal occupants up to the door.

The small Church of Scotland parish kirk is the family’s regular place of worship when they are at Balmoral, and Queen Elizabeth II regularly attended services there.

Charles and Camilla were travelling in the first car, while William was driving the second car – which also carried Kate and the couple’s three children.

A crowd of onlookers had gathered outside the front of the church to witness their arrival.

Kate was wearing a hat, a tweed-type jacket and a high-necked white shirt, and could be seen smiling as she was driven up to the church.

William and George were both dressed in suits, and looked more serious.

About an hour after they arrived, the royals left the church to a cheer from the assembled wellwishers.

Their cars then passed back through the guard of honour, before making their way back down the road towards Balmoral.

The visit comes days after news of the Duke of Sussex’s imminent return to the UK emerged.

William and Kate have not reacted publicly to the news of Harry and Meghan’s return, but may have held private conversations with the wider family during their annual summer holiday in Balmoral, which began earlier this week.

Some reports suggested the family was holding a “summit” over the return of the Sussexes.

Jayne Williams, from Pencoed in South Wales, was among the crowd that gathered outside the kirk to witness the royals’ arrival.

The 65-year-old said she was in the Highlands on holiday, and that it was “just a fluke” she happened to be visiting the Balmoral area on the day members of the royal family were attending a church service.

“We saw all the the soldiers in the car park, thought what the heck’s going on, asked the policeman, and he informed us that the royal family are in for a service,” she explained.

“Hence why we’ve stayed then to get a glimpse of as many of them as we can.”

She said: “It’s once in a lifetime. It’s just amazing to see them actually in person, and that all you see normally is in magazines and on the TV.”

This was echoed by Fiona Wallace, 59, who had travelled down from Inverurie, Aberdeenshire, for the occasion.

She described seeing the royals close up as “overwhelming”.

“I was never had much of a royal family inkling,” she said.

“I didn’t bother much with the royal family, but now I’ve seen them, it’s different. I’d like to see more.”