Queen Camilla was pictured arriving at Buckingham Palace on Tuesday, where she will join her husband King Charles to carry out engagements linked to the Qatar state visit.

Her Majesty arrived at Buckingham Palace at 12.10pm, ready to greet the Amir of Qatar and his wife at the royal residence.

The royal car was driven around the quadrangle to the Grand Entrance, and the Queen smiled as she stepped from the vehicle and made her way into the palace.

Camilla, 77, missed the outdoor ceremonial welcome after suffering post-viral fatigue following a nasty chest infection.

The Qatari royals, who will stay in Britain until Wednesday, December 4, will enjoy lunch at Buckingham Palace before attending a special exhibition in the Picture Gallery of items from the Royal Collection Trust and Turquoise Mountain Foundation relating to Qatar.

Queen Camilla will be present at the lunch at the Palace on the royal party’s return and is hoping to view the exhibition in the Picture Gallery too.

Doctors had urged Camilla, 77, to take time to rest and recover fully because of the lingering effects of an illness, contracted a month ago following her long-haul trip to Australia and Samoa, which included diminished reserves of energy.

Supporting her mother-in-law, the Princess of Wales has made a rare public appearance as the King officially welcomed the Amir of Qatar to the UK for a two-day state visit.

Charles greeted the Gulf state ruler in Whitehall as he began a busy round of public engagements aimed at strengthening the ties between the UK and the Middle Eastern nation.

Military pomp and pageantry was on display for the ceremonial welcome for the visiting head of state Sheikh Tamim bin Hamad Al Thani and the first of his three wives, Sheikha Jawaher.

On Whitehall’s Horse Guards Parade, a guard of honour were formed by the 1st Battalion Welsh Guards stood waiting in two ranks to be inspected by the visiting head of state.

William and Kate had followed tradition and accompanied the emir and his wife from their private residence to Horse Guards Parade for the ceremonial welcome.

The princess looked relaxed as she stepped from a chauffeur-driven car with the prince, one of only a handful of official events Kate has carried out this year.

Kate has been gradually returning to royal duties after she announced in September that she had completed her chemotherapy treatment and her focus was “doing what I can to stay cancer free”.

She will also have lunch with Charles, Camilla and William when they host their guests Sheikh Tamim and Sheikha Jawaher, and be part of the royal party viewing a display of items relating to Qatar in the palace’s picture gallery.