Sarah Ferguson in extremely high spirits as she joins the Queen at Ascot

Sarah Ferguson appeared to be having a great time as she joined ex-husband Prince Andrew and daughter Princess Beatrice at Royal Ascot on Friday.

The Duchess of York was pictured animatedly smiling and waving as she curtsied in front of Her Majesty the Queen at the prestigious horse racing event, before making her way to the royal box.

Fergie, who still lives with Prince Andrew in the Royal Lodge at Windsor, looked stunning in an elegant navy blue dress, by Roland Mouret, and a matching Philip Tracey hat which complimented her fiery red hair.

The 58-year-old completed her sophisticated look with several pieces of understated jewellery, including a very discreet horse-shaped brooch on her left shoulder, and a pair of sophisticated heeled court shoes.

Read more: She made it! Sarah Ferguson sports super-fitted dress for royal wedding.

Sarah, Duchess of York, joined the royal family for day four of the renowned racing event, where the Queen has been in daily attendance, with her children Prince Charles, Princess Anne, Prince Edward and Prince Andrew, also making appearances over the past few days.

She was later pictured in the royal box sharing a laugh with the Monarch and her eldest daughter, despite divorcing the Queen’s son more than 20 years ago. The Queen stuck true to her trademark style, wearing a gorgeous matching hat and coat in an eye-catching shade of lime green, accented with pink flowers.

Read more: Sophie Wessex goes glamour-mod in jumpsuit at Royal Ascot.

Princesses Beatrice and Eugenie have been firm fixtures at the racing festival and joined the Queen and other members of the royal family at the Royal Ascot on Thursday. While she wasn’t there in person to share in the fun, proud mum Sarah Ferguson tweeted a picture of her daughters looking lovely as they arrived by at the racecourse by horse drawn carriage. 

Read more: ‘So proud’: Sarah Ferguson gushes about daughters with sweet photo.

Sarah married the Duke of York in 1986 and they went on to have daughters Princess Beatrice, 29, and Princess Eugenie, 28, together. The couple divorced 10-years later in 1996, with Sarah retaining her royal title, however they have remained very close ever since with Sarah previously saying they “never really left each other”.

What do you think of Sarah Ferguson? Are you glad to see her back in the public eye?