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Joe Biden and wife Jill flew straight from the G7 Summit for a tea with the Queen at Windsor Castle this afternoon.

The 95-year-old monarch, wearing a bright pink floral outfit, greeted the US President and First Lady in the castle's quadrangle.

A Guard of Honour formed of The Queen's Company 1st Battalion, Grenadier Guards gave a Royal Salute, and the US National Anthem was played.

Onlookers said the President and Queen looked relaxed and chatted before they headed inside the castle for tea.

He became the 12th serving US President the Queen has met as monarch.

She has met all elected US premiers except Lyndon B Johnson during her 69-year reign.

The US national anthem played as the Bidens visited Windsor Castle
(Image: Samir Hussein/WireImage)

Mr Biden previously met the Queen in 1982, when he was a US senator, the White House said.

They also spoke at Friday evening's G7 Summit reception at Cornwall's Eden Project.

Speaking at the Summit, First Lady Mrs Biden said the couple were looking forward to seeing the monarch.

She added: "Joe and I are both looking forward to meeting the Queen.

“That's an exciting part of the visit for us."

Mr Biden was clearly eager to meet the monarch after the pair were seen chatting at the G7 on Friday and turned up early at Windsor Castle.

The trio moved into the castle for tea after the ceremony finished
(Image: REUTERS)

Three years after Donald Trump was given the same honour, Mr Biden, and his wife Jill were formally welcomed by the Queen with a guard of honour and a military march past before being taken inside to have tea in the castle's Oak Room.

Windsor Castle rolled out the red carpet for the US President and the First Lady as Mr Biden accompanied the Officer Commanding the Guard of Honour, Major James Taylor, and Major General Christopher Ghika to inspect the Honour Guard.

He then stood side-by-side with the Queen to watch the military march-past.

The Queen appeared to be in a sunny mood to match the weather on Sunday, chatting easily with the president and his wife.

Dressed in pink, the Queen then welcomed the couple into Windsor Castle where she personally served them tea.

Speaking to reporters after the meeting, Mr Biden said: "She reminded me of my mother in terms of the look of her and her generosity.

"I said 'we wish we could have stayed longer, hold the cars up something'. She was very gracious."

The US leader is the first overseas visitor welcomed by the Queen since the death of the Duke of Edinburgh in April at the age of 99.

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Today's engagement came almost 40 years after Mr Biden first met the Queen, when he was a US senator in 1982.

Their latest meeting comes the day after the Queen received her official birthday gift from the nation’s armed forces – a ceremony of pomp and pageantry in her honour – which was held at the castle.

The traditional Trooping the Colour ceremony, which is normally staged in London, was ruled out for the second successive year because of the threat of coronavirus.

The Queen shows the Bidens the Grand Corridor during their visit to Windsor Castle
(Image: PA)

On Friday, the Queen insisted on borrowing a ceremonial sword to cut a cake during a royal engagement – prompting laughter from the Duchesses of Cornwall and Cambridge.

The monarch had been handed the sword by Edward Bolitho, the Lord-Lieutenant of Cornwall, for the task of cutting a large cake marking the Big Lunch at the Eden Project.

When told by an aide that there was a conventional knife available, the Queen replied: “I know there is, this is more unusual”.

The Duchess of Cornwall commented: “That’s slicing through” before assisting with the final part of cutting the cake, which was loudly applauded by those at the event.

The President inspects the Guard of Honour formed of The Queen's Company First Battalion Grenadier Guards
(Image: AFP via Getty Images)

After handing the ceremonial sword back, the Queen used a knife to cut a second slice of cake and remarked: “That looks very good.”

Speaking at the Summit, First Lady Mrs Biden said the couple were looking forward to seeing the monarch.

She added: "Joe and I are both looking forward to meeting the Queen.

“That's an exciting part of the visit for us."

The carefully-choreographed arrangements to welcome Mr Biden echo the welcome given to Donald Trump in 2018, when the controversial then-US president travelled to Windsor to meet the monarch.

Mr Trump, who lost the 2020 presidential election to Mr Biden, and the Queen had afternoon tea together in the castle’s Oak Room, with the meeting lasting longer than expected.

It was due to last around half-an-hour, but overran by almost 20 minutes.

In 2008, when then US president George W Bush met with the monarch at Windsor, he enjoyed a traditional English afternoon spread of tea, small sandwiches and cakes in the White Drawing Room.

President Joe Biden and the Queen stand as the US national anthem is played at Windsor Castle
(Image: REUTERS)

In 2018, the Queen accompanied Mr Trump to inspect the Guard of Honour at Windsor.

Escorting a visiting head of state to inspect the troops is a role which usually fell to the late Duke of Edinburgh, before he retired in 2017.

Mrs Biden, meanwhile, met the Duchess of Cambridge for the first time when they visited Connor Downs Academy in Hayle, Cornwall amid the G7 summit on Friday.

US President Joe Biden and US First Lady Jill Biden arrive on US helicopter Marine One at Windsor Castle
(Image: AFP via Getty Images)

In an article for CNN, the pair wrote that early childhood care and education should be among “the defining strategic issues of our time".

They called for a “fundamental shift” in the approach to a key life stage in a joint article based on their shared passion for improving early years development.

The Prince of Wales urged G7 leaders to display the same sense of urgency in tackling climate change as they showed in tackling the coronavirus pandemic.

At a reception with leaders including Boris Johnson and Joe Biden on Friday, Charles said the Covid-19 pandemic had shown what a “truly borderless crisis” looks like.

“Of course, we did not fully see Covid coming,” he said.

“Yet climate change and biodiversity loss represent a borderless crisis, the solutions to which have been argued about and postponed for far too long.”