The moving moments were especially symbolic as the queen started most days with the sound of bagpipes.
Like a sort of alarm clock, the bagpiper played for 15 minutes before the frost at 9 a.m. wherever she was.
Pipe Major Scott Methven, who held the role between 2015 and 2019, told the BBC last week that he got to know the Queen very well during his time in the position.
“It was a pleasure to have Her Majesty stand to see you play,” he told the BBC. “She enjoyed the bagpipes, but she got to know you as a person.”