The Queen inspected troops following her arrival
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The Queen and Prince Philip have begun a visit to Nigeria amid tight security.
After being welcomed at Abuja airport by the Nigerian president, the Queen inspected elite troops and received a traditional gift of cola nuts.
At a state reception she welcomed the country's democratic reforms and said it must meet the many challenges ahead.
Many Nigerians see the Queen's trip as recognition of the country's return to the international fold, BBC world affairs correspondent Peter Biles says.
Airport security
Heavily-armed troops surrounded the airport ahead of the Queen's arrival, as part of some of the tightest security the country has ever seen.
Children helped welcome the royal visitor to Abuja
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British military police advisers helped stage the welcoming ceremony and oversaw airport
security.
After being welcomed by president Olusegun Obasanjo the Queen saw a display by tribal dancers and was later driven into central Abuja in a motorcade.
At the reception she welcomed Nigeria's return to democratic rule.
She said: "We welcome your government's plans for much-needed political, economic and
judicial reform, poverty alleviation and the fight against corruption."
Earlier this week US campaign group Human Rights Watch accused Nigeria of widespread human rights abuses.
The group claimed violence is used to silence government critics - a charge rejected by the Nigerian government.
Warm welcome
The Queen's visit is an important moment for Nigeria, Peter Biles said.
In spite of the country's troubled history of military coups and economic decline since independence in 1960, this phase of civilian rule has heralded a new era of democracy.
The Queen is guaranteed a warm welcome during this four-day state visit, Biles said.
Less than a decade ago President Obasanjo was a political prisoner and Nigeria was suspended from the Commonwealth.
Now, Nigeria is about to host the Commonwealth heads of government meeting, which the Queen will open on Friday.
The summit is also being attended by
Prime Minister Tony Blair and Foreign Secretary Jack Straw is accompanying the Queen on her visit.