Queen Elizabeth has surprised royal watchers as she stepped out for her first public engagement since the Platinum Jubilee celebrations to kick off Royal Week.

Her Majesty attended the historic Ceremony of the Keys, wearing a dazzling smile as she stood beside the Earl and Countess of Wessex, her son Prince Edward and his wife Sophie.

The 96-year-old looked radiant in a powder blue coat and matching hat, supported by a walking stick that belonged to Her Majesty’s late husband, the Duke of Edinburgh.

The ancient ceremony took place at the Monarch’s official place of residence in Scotland, the Palace of Holyroodhouse in Edinburgh, where the Queen was given the keys to the city and welcomed to her “ancient and hereditary kingdom of Scotland”.

The Guard of Honour at the ceremony was carried out by the Balaklava Company, the Argyll and Sutherland Highlanders, of which the Her Majesty was named the Colonel-in-Chief on her 21st birthday by King George VI.

The Monarch is expecting to carry out a range of engagements during Royal Week in Scotland, to celebrate community, innovation and history and honour Her Majesty’s role as head of armed forces in the UK.

The Queen’s appearance was an unexpected surprise as mobility issues have seen her pull out of recent public events, she was last seen on the balcony of Buckingham Palace on June 5, marking the ending of the celebration of 70 years on the throne.

The Monarch withdrew from attending Jubilee events like the St Paul’s Cathedral Service of Thanksgiving, a ceremony described as a pivotal Platinum Jubilee event.

A Palace spokesperson claimed the Queen withdrew from the event with “great reluctance”.

Joining Her Majesty on the Palace balcony were the Duke and Duchess of Cambridge and their three young children, George, Charlotte and Louis, the Prince of Wales and the Duchess of Cornwall, Princess Anne and husband Sir Timothy Laurence, the Earl and Countess of Wessex along with their children, Lady Louise and Viscount Severn were also present.