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The Royal party left for the Queen's private birthday dinner and expected among the guests were the Duke and Duchess of Cambridge, Prince Harry and other senior royals.
"I think she just said 'hello', she recalled after their meeting.''We're here to celebrate the Queen's birthday and I'm the only one on the programme who is allowed to speak about the Queen - for the last 20 years I've been a loyal, devoted follower.'' Philip stopped to talk to the pair and Ms Martin said later: "He asked me what I do and where I live and I told him I'm Sandra, I live in Brixton and I appear on TV."I told him I sit on my sofa and watch TV and you watch me watching TV and that made him laugh." Town crier Tony Appleton, 80, from Chelmsford, had been at the Lindo Wing when Prince George and Princess Charlotte was born.More than 30 royals were among more than 70 guests joining the Queen for the lavish affair.
Charles handed the torch to the Queen and invited her to light the principal beacon - a large brazier on a 20ft (6m) pole at the start of the Long Walk.Prime Minister David Cameron has led the tributes to the Queen - born on April 21 1926 - who has become the country's first nonagenarian sovereign.