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Lady Helen Taylor takes centre stage alongside The Queen on Day 4 of Royal Ascot

The Duke and Duchess of Kent’s daughter Lady Helen Taylor took centre stage at Royal Ascot on Friday as she sat alongside The Queen in the carriage procession.

Lady Helen, who was joined by her husband Timothy, sat in the first carriage in Friday’s procession at Royal Ascot.

The 55-year-old royal, who is Her Majesty’s first cousin once removed, wore a pink and orange dress for the occasion.

Sitting next to her, the 93-year-old monarch wore a neon raspberry pink outfit with her Jardine Star diamond brooch.

Also sat in the first carriage alongside Her Majesty and the Taylors was The Queen’s eldest grandchild, Peter Phillips.

The other three carriages which were part of the procession were made up of non-royals, but rather their friends and members of staff.

In the second carriage behind The Queen was Lady Alexandra Etherington and Mark Etherington.

Lady Alexandra is godmother to Lady Louise Windsor.

Photo: ITV Racing

Her Majesty’s racing manager John Warren was also in the carriage alongside his wife, Carolyn.

In the 3rd carriage was William Vestey and Violet Vestey. Luca Cumani, an Italian thoroughbred horse trainer, was also in the carriage alongside his wife, Sara.

The Queen’s equerry, Major Nana Twumasi-Ankrah, was in the fourth carriage on Friday.

Photo: ITV Racing

Major General Ben Bathurst and his wife also formed part of the procession, as did The Queen’s Lady-in-Waiting, Dame Annabel Whitehead.

The Queen will be hoping for a successful day of racing at Ascot, as her horse, Magnetic Charm, competes in the 17:00 race.

Magnetic Charm will be ridden by James Doyle and enters the race as an 8/1 shot.

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