The Queen greets President Obama and First Lady Michelle As They Arrive London

 The Duke of Edinburgh drove Elizabeth II 400 yards from the castle to welcome the Obamas on their state visit to the UK then drove both couples back inside for a 45-minute lunch.

As Marine One landed on the golf course of the 6,400-hectare estate next to the castle walls, Philip and the Queen, 90, waited in their navy Range Rover.
Then, as the blades of the helicopter stopped, the Duke pulled the car forward and he and the Queen got out to welcome their guests

Mr Obama walked down the steps and shook hands with the Queen followed quickly by his wife Michelle as Philip waited his turn to welcome them both.

The two couples appeared very relaxed and instantly started chatting away animatedly before getting into the vehicle.

There seemed to be some confusion about who was going to sit where, with Philip appearing to gesture to Mrs Obama to go round to the other side when in fact she eventually got in at the back on the same side as him.

Mr Obama started to go one way towards the Queen, then changed direction and got into the front seat next to Philip.

While the Queen and Philip were waiting to greet the Obamas their car was turned around by a member of staff so Philip did not have to turn it himself or reverse it back up the drive.