After much speculation,Queen Elizabethwas in attendance for her beloved late husbandPrince Philip’s memorial service at Westminster Abbey on Tuesday morning. In an unexpected move, she arrived on the arm of her son Prince Andrew.

“It shows she wholeheartedly loves and believes her son,” says royal commentator Robert Jobson. “As she did when she made a statement about Camilla being Queen’s Consort, many people will now accept the Queen’s word and judgment.”

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Jobson, the author ofPrince Philip’s Century, says there was disquiet among senior members of the family, “but she insisted.”

“It does make some sense that he accompany her because he doesn’t have a partner. A settlement has been paid but he’s guilty of nothing in the eyes of the law,” he adds. “She has faith in Andrew. Even if he disappears from public life, he’s been able to pay tribute to his father, who after all, was very proud of his service in the Royal Navy, where he fought in the Falkland Islands conflict.”

Queen Elizabeth and Prince Andrew.RICHARD POHLE/POOL/AFP via Getty Images

Service of Thanksgiving for Britain’s Prince Philip, Duke of Edinburgh

In the days leading up to theService of Thanksgiving, it was not known whether the monarch, 95, would attend the ceremony in honor of the Duke of Edinburgh, who died last April at the age of 99. A royal source told PEOPLE that the monarch had hoped to attend, but that a decision will be made on the day.

Service of Thanksgiving for Britain’s Prince Philip, Duke of Edinburgh

Her appearance on Tuesday marks the first time the monarch has been at a public event outside of a royal residence since mid-October, when she visited Cardiff, Wales.

Queen Elizabeth and Prince Andrew.Dan Kitwood/Getty Images

Queen Elizabeth II and Prince Andrew, Duke of York

Special arrangements were made for the Queen’s arrival on Tuesday. Instead of entering through the main door of Westminster Abbey — which would have meant walking the length of the aisle — she came through a side door with one arm on Andrew and the other on a walking cane.

Despiterecent mobility issues, the Queen stood to pray and sing anthems throughout the service.

Queen Elizabeth.PA Images / Alamy Stock Photo

Service of Thanksgiving for the life of the Duke of Edinburgh

Queen Elizabethhas had to cancel several engagements due tocontracting COVID-19in February amid other health concerns. She also recently complained of mobility issues and has beenusing a walking cane.

As the first hymn “To Be a Pilgrim” was sung, the Queen emerged on Andrew’s arm, making a slow, but steady stride to her seat. As they reached the front row, she left Andrew’s side and took her seat next toPrince Charlesand Camilla, Duchess of Cornwall. Andrew sat across the aisle in the front row next to his younger brother Prince Edward and Sophie, Countess of Wessex.

PA Images / Alamy Stock Photo

Service of Thanksgiving for the life of the Duke of Edinburgh

The service marks Prince Andrew’s first public event since he settled his court case with Giuffre. His daughters,Princess BeatriceandPrincess Eugenie, and their husbands, Eduardo Mapelli Mozzi and Jack Brooksbank, were also in attendance.

Prince George and Princess Charlotte also made a surprise apperance at their great-grandfather’s service. They arrived at Westminster Abbey alongside their parents, Prince William andKate Middleton.

Prince Harryhad previously announced that he wouldnot be returning to the U.K.for his grandfather’s service.

Prince George, Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge, and Princess Charlotte.Samir Hussein/WireImage

Prince George, Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge, and Princess Charlotte

Earlier this month, the monarch canceled her appearance at the Commonwealth Day service at Westminster Abbey. PEOPLE understands that the Queen’s absence was not related to illness. There were discussions surrounding the monarch’s comfort when it came to her travel arrangements and attending the service.

Queen Elizabeth and Prince Philip.Steve Parsons/PA Images via Getty

Queen Elizabeth II and the Duke of Edinburgh pictured 1/6/2020 in the quadrangle of Windsor Castle ahead of his 99th birthday on Wednesday.

According to the palace, the Queen has been actively involved in the plans for Tuesday’s Service of Thanksgiving, with many elements reflecting her wishes.

Prince Philip Memorial, London, United Kingdom - 29 Mar 2022

The Duke of Edinburgh’s funeral last April had a 30-person limit due to coronavirus pandemic restrictions, allowing for only his wife, four children, eight grandchildren and other close family members and friends to attend. The service on Tuesday incorporates several elements that had initially been planned for Philip’s funeral that had to be scrapped due to COVID restrictions in place at the time.

There are also poignant details in place to honor Philip. The floral arrangements include white dendrobium orchids, which were part ofQueen Elizabeth’s wedding bouquet in 1947, and sea holly, which echoes the Duke of Edinburgh’s career in the Navy and a lifelong love of the sea.

Service of Thanksgiving for the life of the Duke of Edinburgh

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It was alsoPrince Philip’s wish that clergy from the royal estates of Windsor, Sandringham and Balmoral play a part in his funeral service, given his active role in the day-to-day management of the estates. Since their attendance wasn’t possible last year due to restrictions in place, members of the various estate’s clergy offered prayers at the Service of Thanksgiving.

Service of Thanksgiving for the life of the Duke of Edinburgh

“Of course, it must be said that his life bore the marks of sacrifice and service. Certainly, he could show great sympathy and kindness,” he continued. “There is no doubt that he had a delightfully engaging, and often self-deprecating, sense of humor. It is quite clear that his mind held together both speculation and common sense.

“As we give thanks for the life of a remarkable man, perhaps our greatest tribute to him, most especially in these far too troubled times, will be for us to accept the challenge, implicit in his life, to rekindle in our hearts something of that call, and to pray (as I think he did) for the inspiration and the guidance to play our part, however small, in working for a kinder future.”

As she left the service,Queen Elizabethstopped and chatted with a young woman who gave a speech during the service.

Doyin Sonibare.RICHARD POHLE/POOL/AFP via Getty Images

Duke of Edinburgh Bronze, Silver and Gold award holder Doyin Sonibare

Doyin Sonibare, a Gold Award Holder from The Duke of Edinburgh’s Award, tells PEOPLE, “She thanked me for my speech. She asked me when I did my Duke of Edinburgh Award. She was really lovely, really kind.”

Sonibare wore a dark green dress to the memorial — unknowingly matching with the Queen and other senior members of the royal family who wore the color in honor of Philip as it was the color of his livery. “It was a complete coincidence,” she says with a smile. “But it’s quite nice that we were all in sync.”

Queen Elizabeth.RICHARD POHLE/POOL/AFP via Getty Images

Service of Thanksgiving for Britain’s Prince Philip, Duke of Edinburgh

Sonibare is an ambassador for the Duke of Edinburgh award program that helps young people with life skills and encourages community service.

“On reflection, I never thought I could do half of the things I have done in the last decade, yet I’ve been able to do so because of the opportunities presented to me,” she said in her speech. “In 1956, when The Duke of Edinburgh created the Award, he had a vision to create a program which supported the development of young people all over the world. Today, you’ve learned how his legacy has impacted me and how it will continue to impact future generations to come.”

source: people.com