The BBC's Glyn Mathias: The monarchy is embracing the new political culture

The Queen was joined by the Duke of Edinburgh and the Prince of Wales for the historic royal opening of the new assembly in Cardiff.

The National Assembly received its royal opening during what was described as a "low key" and "informal" ceremony at its temporary home in Crickhowell House.

The brief bilingual ceremony included speeches by the Queen and her son the Prince of Wales, who spoke in Welsh.

'Pioneers'

HRH Prince Charles' speech in Welsh

Prince Charles spoke of his great pride in being Prince of Wales, saying: "This is a historic day for Wales.

The Queen led speeches from political leaders

"To you the 60 members of this assembly falls the honour of being pioneers."

The Queen was then presented with a bound volume of the Government of Wales Act.

Music played by harpists, including Elinor Bennett, the wife of Plaid Cymru President Dafydd Wigley, was included in the ceremony as well as an emphasis on young people.

Wyre Davies in Cardiff: A huge show of public support for the royals and the assembly

The ceremony continued with bilingual speeches from the assembly's First Secretary Alun Michael and the leader of the opposition Mr Wigley.

Mr Michael said: "This is a time of change and it is also a time of hope."

There was a "profound sense of history on these proceedings", he continued.

But the low turn out in the assembly elections last month meant the assembly must still convince people.

The real test of the assembly would be whether it would improve the quality of life of the people of Wales, he said.

Mr Wigley echoed that when he said the assembly's first task would be to "work for the benefit of all the people of Wales".

He said: "The new national power house will create new confidence and add new dignity to Wales."

But he warned that no-one should underestimate the size of the task ahead.

The ceremony concluded with the presentation of a trophy crafted out of brass, steel, slate, coal and gold by two 18-year-olds which will be the equivalent of the assembly's mace.

'Voices of a Nation'

Prime Minister Tony Blair arrived in Wales later in the day to meet the assembly members who will run the principality's £8bn budget from July.

However, Wales' most popular band, the Manic Street Preachers, will not be there. They have refused to play before the Queen because they regard the monarchy as "outdated".

Earlier, Mr Michael hit back at suggestions that the assembly had got off to a bad start with the controversy over the beef-on-the-bone ban, the appointment of a vegetarian agriculture secretary and a non-Welsh speaker as Welsh language minister.