The Princess Royal was joined by her husband, Vice Admiral Sir Timothy Laurence, for a rare joint outing on Saturday.

On Monday, Buckingham Palace shared a photo on the Queen's Instagram account from the couple's engagement, saying: "On Saturday The Princess Royal and Vice Admiral Sir Tim Laurence attended the national #ArmedForcesDay celebrations at the National Memorial Arboretum.

"The Princess had the chance to personally thank members of the Armed Forces community, including military families, for their service."

Both Anne and Sir Tim were dressed in their naval uniforms, with their medals proudly on display.