Maj Nicky Bell followed the Queen on her Honour Guard inspection
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British soldiers have flown in from Afghanistan, Northern Ireland and Germany as the Queen paid a visit to the Royal Engineers' barracks in Kent.
Their families and members of the public also gathered to catch a glimpse of Her Majesty as she inspected her troops at Brompton Barracks, Chatham.
The Queen had a crab and chicken lunch after a seated group photo with the Royal Engineers' commanding officers.
Their Colonel-in-Chief last visited 20 years ago to open a museum there.
She arrived at the barracks on Thursday by helicopter.
Gen Sir Kevin O'Donoghue said: "It's a great honour, she's our colonel-in-chief, she tries to visit us as often as she can and this is really exciting.
The Queen lined up for a photo of the occasion with officers
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"She is the most senior Royal Engineer and it's nice to see her in the family of the Corps. It's a huge morale boost."
Maj Nicky Bell, a Royal Engineer for 12 years, was directly behind the Queen as she inspected the Honour Guard.
She said: "We practised so many times but for the Queen to actually come up, I was so nervous but just trying to concentrate on getting the words out."
And L/Cpl Paul Whibley was so overwhelmed by the occasion that "instead of shaking her hand I wanted to give her a big hug".
"All the years I've been in the forces I've never got to meet her and she's my boss and the colonel-in-chief."
"She's a prestigious lady," he added.
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