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She will carry out engagements over the next four days as part of her traditional trip to Scotland for Holyrood Week.
The 95-year-old monarch, who has spent most of lockdown at Windsor Castle, will be joined first by her grandson the Duke of Cambridge – known as the Earl of Strathearn in Scotland – and then by her daughter the Princess Royal.
She will be joined by William at engagements on Monday, while Anne will accompany her on Wednesday and Thursday.
Holyrood Week, also known as Royal Week, was cancelled last year because of the pandemic.
This year, in line with Government guidelines, traditional events hosting thousands of people such as the garden party at Holyroodhouse will not take place.
In a series of tweets on Sunday, Buckingham Palace emphasised the Queen’s long-standing links to Scotland.
It said: “Tomorrow, The Queen will arrive in Scotland for #RoyalWeek2021 Royal Week, or ‘Holyrood Week’, takes place each Summer as The Queen and Members of the Royal Family undertake visits across Scotland celebrating Scottish culture, achievement and communities.
“Her Majesty is connected to Scotland by ancestry and deeply held affection. As well as spending family Summers at Balmoral Castle, The Queen has visited almost every area of Scotland from the Outer Hebrides to Dumfries, meeting Scots from all walks of life.”