Hundreds of people turned out to greet the Queen as she arrived in Gloucester on Thursday to hand out Maundy money.
A total of 77 men and 77 women received the gifts
The crowd cheered and waved Union flags as she took a walkabout in the city with the Duke of Edinburgh before the hour-long Cathedral service.
The service was led by the Dean of Gloucester, the Very Rev Nicholas Bury, and attended by about 1,600 people.
It is more than 30 years since the Queen performed the Maundy ceremony in the county.
Her Majesty also met families of Territorial Army personnel serving in the Gulf.
Catherine Hart, 70, whose son Patrick is serving in Kuwait as a chef, said: "She's got a lovely voice and she looks nice in her outfit.
"She seemed interested and asked what he was doing out there.
"I have always admired her. She does a lot of good work - she is a credit to her family and her country," she said.
Eight-year-old Casey Williams presented a bouquet of flowers, and was told she had picked "well-chosen colours".
The Queen also distributed white purses of silver coins, adding up to 77 pence, matching her 77-year age.
A total of 77 men and 77 women received the specially-minted gifts.
Each recipient is a senior citizen recommended by clergy and ministers of all Christian denominations, in recognition of service to the church and the community.
The eldest recipient of a bag of coins containing silver one, two, three and four penny pieces was 99-year-old Dorothy Judd.
The Maundy service started at 1100 BST and is being broadcast on BBCi Gloucestershire and Radio Gloucestershire.
Security was tightened for the visit, with officers checking drains and putting up special crowd control barriers.