A large crowd gathered to greet the Queen and family members as they attended the service at St Mary Magdalene Church in Sandringham.
Prince Andrew, who stepped ³²ÀÚ¸íǰ·¹Çø®Ä«=³²ÀÚ¸íǰ·¹Çø®Ä« back from royal duties last month, kept a low profile at the event.
The 11am service was broadcast live to the hundreds of visitors who had gathered outside the church.
Some had queued from the ¸íǰÈĵ导=¸íǰÈĵ导 early hours of the morning in the hope of seeing the Royal Family.
Well-wishers held out flowers and gifts for Princess Charlotte, four, and Prince George, six, who were accompanied °æ»ê»çµ¿Á·¹ß by their parents, the Duke and Duchess of Cambridge.