Queen Elizabeth Steps Out in Public with a Cane for the First Time in 17 Years

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Watch: Queen uses walking stick at Westminster Abbey service

Queen Elizabeth had some extra support from a cane while attending an event at Westminster Abbey. 

The Queen, 95, was joined by her daughter Princess Anne, 71, to attend a Service of Thanksgiving to mark the Centenary of the Royal British Legion on Tuesday. The monarch used a walking stick for the first time in public since 2003, when she used a cane while she was recovering from a knee surgery. 

Last week, the Queen was without a cane as she teamed up with her youngest son, Prince Edward, outside Buckingham Palace to officially launch the Queen's Baton Relay ahead of the the XXII Commonwealth Games in Birmingham next summer.

Princess Anne dressed in a purple ensemble for Tuesday's outing, while Queen Elizabeth wore a blue jacket with matching wide-brimmed hat. She accessorized with Queen Mary's Russian Brooch, which features a sugarloaf cabochon sapphire. The brooch was given from Empress Marie Feodorovna to Queen Mary as a wedding gift in 1893, and the Queen inherited it from her grandmother in 1953.

RELATED: Find Out How Queen Elizabeth Carried On a 90-Year Tradition with a Secret Message

Queen Elizabeth
Queen Elizabeth

Samir Hussein - Pool/WireImage Queen Elizabeth         

The Westminster Abbey service highlighted the enduring legacy of the Royal British Legion, the U.K.'s biggest Armed Forces Charity, since its creation in the aftermath of the First World War. The Queen serves as Head of the Armed Forces.

Queen Elizabeth
Queen Elizabeth

Arthur Edwards - WPA Pool/Getty Queen Elizabeth         

The Queen and Princess Anne, who gave a reading, joined serving military personnel, veterans and volunteers at Westminster Abbey. An anthem, originally commissioned for the 75th anniversary of VE Day, was also sung publicly for the first time.

Queen Elizabeth
Queen Elizabeth

FRANK AUGSTEIN/POOL/AFP via Getty Queen Elizabeth and Princess Anne         

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Following her stay at her beloved Balmoral Castle in Scotland during the summer and early fall, Queen Elizabeth returned to public royal duties in England this month. She is set to return to Scotland to attend the U.N. Climate Change Conference COP26 during the first week in November alongside Prince Charles, Camilla, Duchess of Cornwall, Prince William and Kate Middleton.

Watch: The Queen's Biography