Kate MiddletonandPrince Williamhave arrived at one of the most anticipated events on their social calendar: Royal Ascot!

The royal couple joinedQueen Elizabethfor the annual five-day horse race, which kicked off on Tuesday.

PA Images/Sipa

The Duchess of Cambridge Royal Ascot Catherine

Kate Middleton and Camilla, Duchess of Cornwall.Press Association via AP

Royal Ascot Duchess of Cambridge Duchess of Cornwall Camilla Catherine

Kate Middleton.Tim Rooke/Shutterstock

Catherine Duchess of Cambridge Royal Ascot

They royal parents of three were among the guests on the first day of the horse racing festival that the Queen, 93, attends every year with her family and friends.

Queen Elizabeth.PA Images/Sipa

Queen Elizabeth II Royal Ascot

Queen Elizabeth and Queen Maxima of the Netherlands at Royal Ascot 2019.James Veysey/Shutterstock

Queen Elizabeth II and Queen Maxima Royal Ascot

Also joining the Queen were her granddaughtersPrincess BeatriceandPrincess Eugenie, who were in the fourth carriage. The sisters shared the carriage with the Queen’s private secretary Edward Young and one of the Queen’s cousins Princess Alexandra. Eugenie’s husband of eight months, Jack Brooksbank, was not at the race.

Princess Eugenie and Princess Beatrice.PA Images/Sipa

Royal Ascot Princess Eugenie of York (left) and Princess Beatrice of York

Princess Beatrice and Queen Elizabeth.James Veysey/Shutterstock

Princess Eugenie and Queen Elizabeth II Royal Ascot

On Monday, William and Kate stepped out for the grandOrder of the Garter with the Queenand other senior members of the royal family at St. George’s Chapel at Windsor Castle.

In her welcoming remarks to racegoers in this year’s Royal Ascot program, the Queen calls the event “one of the sporting events that I have been fortunate to enjoy throughout my life.”

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Princess Eugenie, Zara Phillips and Catherine Duchess of Cambridge Royal Ascot

Zara Tindall and Kate Middleton.James Veysey/Shutterstock

Zara Phillips and Catherine Duchess of Cambridge Royal Ascot

Signing it “Elizabeth R,” she adds that even though racing has been taking place there for more than 300 years, and “much has changed, the horses remain the stars, thrilling us with their beauty, brilliance and courage. The quality and the depth of competition at the Royal Meeting has also continued to prosper.”

Prince Charles and Prince William Royal Ascot

She adds, “The best horses and jockeys from across the globe are increasingly drawn to Royal Ascot, and it is truly exciting to welcome competitors from overseas, as strong international competition always adds further interest and fascination.”

Prince William and Kate Middleton.Tim Rooke/Shutterstock

Prince William and Catherine Duchess of Cambridge Royal Ascot

Kate Middleton and Prince William.James Veysey/Shutterstock

Catherine Duchess of Cambridge and Prince William Royal Ascot

The Duchess of Sussex made anappearance at Trooping the Colourearlier this month, however, as it’s a family occasion celebrating the Queen’s birthday.

source: people.com