Extract from the Court Circular:
"The Queen, accompanied by The Duke of Edinburgh, travelled in State to the Palace of Westminster today to open the Session of Parliament.
Her Majesty and His Royal Highness drove in a Carriage Procession, escorted by a Sovereign's Escort of The Household Cavalry, under the command of Major Thomas Archer-Burton, The Blues and Royals, and were received at the Sovereign's Entrance by the Earl Marshal and the Lord Great Chamberlain.
Guards of Honour were mounted at Buckingham Palace by The Queen's Guard found by 1st Battalion Irish Guards, under the command of Major Alexander Turner, and at the Palace of Westminster by the Nijmegen Company Grenadier Guards, under the command of Major Edward Paintin.
A staircase party of The Household Cavalry was on duty at Victoria Tower, House of Lords.
Royal Salutes were fired in Green Park by The King's Troop Royal Horse Artillery, under the command of Major Neil Cross, and from the Tower of London Saluting Battery by the Honourable Artillery Company, under the command of Major Simon Barnes.
The Imperial State Crown, the Cap of Maintenance and the Sword of State were conveyed previously to the House of Lords in a Carriage Procession, escorted by a Regalia Escort of The Household Cavalry.
Her Majesty's Body Guard of the Honourable Corps of Gentlemen at Arms was on duty in the Prince's Chamber and The Queen's Body Guard of the Yeomen of the Guard was on duty in the Royal Gallery.
The Queen's Bargemaster and Watermen were on duty.
The Ladies and Gentlemen of the Household and the Pages of Honour to The Queen (Lord Stanley, Jack Soames, Andrew Leeming and Arthur Chatto) were in attendance at the Palace of Westminster.
Her Majesty and His Royal Highness returned to Buckingham Palace and were received by the Lord Chamberlain and the Vice-Chamberlain of the Household."