The Queen and Prince Philip were joined by Prince William and his wife Kate as part of their summer break in Balmoral.
But the annual retreat has not been as relaxing as normal as the fall out of Prince Andrew's links with paedophile Jeffrey Epstein continues.
The Duke and Duchess of Cambridge flew up to Aberdeen on Thursday for the stay at the Queen's Scottish estate.
The Queen, wearing a tartan kilt, woolen jumper and dark green sleeveless coat, was seen getting into her own vehicle to drive around the estate.
Prince Philip was also seen out and about in the grounds of the castle with his daughter Princess Anne.
The Duke of Edinburgh is rarely seen in public ever since his retirement.
Peter and Autumn Philips, the latter of whom is the oldest grandchild of the Queen, were also pictured at the estate.
The Royals have endured a tough week as questions continue to be asked about Prince Andrew's friendship with disgraced financier Jeffrey Epstein.
In a statement today the Duke of York said he never saw or suspected any sex crimes during the
time he spent with Epstein.
But the denial hasn't stopped serious questions being raised about his knowledge of Epstein's crimes.
Andrew has repeatedly denied any knowledge of Epstein's alleged behaviour, but questions over his wisdom in continuing the friendship have refused to go away.
The Duke was not seen in Scotland today, and was last spotted with his bodyguard at the Real Club Valderrama, one of the most exclusive courses in Europe, in southern Spain.
And another headache is the continued criticism of Prince Harry and wife Meghan Markle who used a private jet four times in 11 days while travelling on holiday to Ibiza and the south of France.
Both have previously been outspoken in their concerns about climate change.
The Duke and Duchess of Sussex are expected to join the Royals in Balmoral shortly, though it is not thought they have arrived yet, the Daily Mail reported on Friday.
The couple came under fire for 'hypocrisy' recently, having previously spoken of 'making a difference' to the future of the planet and the need for 'urgent intervention' on climate change.
Royal sources reportedly told Vanity Fair that the Duchess of Sussex is 'not wasting time' on the public row over her private jet use.
'She's not wasting time or energy on the row over the private jets,' the source said.
Another added: 'As far as she is concerned it’s a storm that will blow over. She is focused on bigger things right now.'
