The royal couple made the short journey by car from the nearby Balmoral Estate to Crathie Kirk where monarchs have worshipped since Queen Victoria.

A small group of Balmoral estate workers, members of the public and pupils from Crathie Primary School had gathered close to the church.

The Rev Kenneth Mackenzie, minister of Crathie Kirk, who officiated at the event, said: "I think that those of us that did get to see the Queen in different situations, but particularly up here, felt it today, were reminded of the loss," he said.

"And wherever they might be, in their own homes or wherever, I'm glad that people will have the opportunity to reflect and give some thanks for the life of the Queen."

Crowds also gathered outside Buckingham Palace in central London and Windsor Castle and left written messages and flowers.

The event will be a deeply personal moment for the King, who became sovereign when his mother died peacefully on September 8 last year at Balmoral, aged 96, after reigning for 70 years.

The King has been staying at his Birkhall residence and Balmoral Castle in Aberdeenshire during the summer.

Sky News royal correspondent Laura Bundock said: "This has felt like a day where the whole family has been reflecting on what has been a huge, monumental year of change - for them as a family, and the wider country."

She added: "It was always going to be an emotional day, particularly for the King, and I've really reflected on the sense of symmetry we have - that the late Queen would always go to Sandringham to mark the anniversary of her father George VI's death, that was where he died, and now we see the same moment mirrored by the King, as he chose to come to Balmoral Castle."

Prince Harry, who flew to London for a WellChild award ceremony on Thursday ahead of the start of the Invictus Games in Germany, also paid tribute to his grandmother.

He said: "I know exactly one year on that she is looking down on all of us tonight, happy we're together, continuing to spotlight such an incredible community."

Harry was spotted at St George's Chapel in Windsor - the final resting place of the late Queen, this morning.

Bundock said some members of the Royal Family have been there to pay their respects in private.

The Prince and Princess of Wales, who visited the Welsh cathedral of St Davids for a short private service on Friday, also paid tribute, saying: "We all miss you."

The message written by William and Kate on X, formerly known as Twitter, read: "Today we remember the extraordinary life and legacy of Her Late Majesty Queen Elizabeth. We all miss you. W & C."

Princess Eugenie wrote on Instagram: "Thinking of you today. Missing you so much but remembering what a life of service, love and dedication to everyone and to your family, who loved you so very much. Forever grateful to you. And always in my heart."

It was followed by two red heart emojis and an image of a smiling Eugenie sat next to her grandmother on what appears to be a bench outside a cabin on the Balmoral estate.

The King has also recorded a message and released a favourite photograph of his mother on the first anniversary of her death.

He recalled his mother with "great affection" and remembered her "devoted service" and "all she meant" to the country, and released a portrait of her taken by Cecil Beaton in 1968 when she was 42.

In it, she is standing side on to the camera, wearing her Garter robes and the Grand Duchess Vladimir's Tiara, made of 15 interlaced diamond circles.

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In a short statement written and recorded at Balmoral Castle, where Queen Elizabeth II died, her son said: "In marking the first anniversary of Her Late Majesty's death and my accession, we recall with great affection her long life, devoted service and all she meant to so many of us.

"I am deeply grateful, too, for the love and support that has been shown to my wife and myself during this year as we do our utmost to be of service to you all."

Duchess of York Sarah Ferguson marked the anniversary by posting an update about the late Queen's corgis on X.

She wrote: "As we mourn a year on, we also celebrate the wonderful times we shared with Her Late Majesty the Queen.

"She entrusted me with the care of her corgis Sandy and Muick and I am delighted to say they are thriving."

To mark Accession Day, bells rung at Westminster Abbey, while soldiers and horses who took part in the state funeral procession and proclamation salutes signifying the new reign performed anniversary gun salutes in the King's honour.

Captain Amy Cooper - lead rider in the procession which carried the Queen's coffin to lie in state in Westminster Hall - gave the order to fire a 41-gun salute at midday in London's Hyde Park.

A 62-gun salute was also planned at the Tower of London by The Honourable Artillery Company.

Rishi Sunak also paid tribute, noting her "sharp wit".

With the "perspective of a year", the prime minister said the "scale of Her Late Majesty's service only seems greater".

Remembering his meetings with her, he added: "I was struck by her wisdom, by her incredible warmth and grace, but also her sharp wit."

Mr Sunak said while the country should be proud of the late Queen's "remarkable legacy of service", a "remarkable bond" between the country and the monarchy "continues to grow today under the reign of His Majesty The King".

Labour leader Sir Keir Starmer said Queen Elizabeth II "always enjoyed a special bond with her people".

He added: "It was a relationship built from her understanding that service of this great nation is the thread that unites sovereign and subject."