Duchess Kate Joins Royal Family at Queen's Coronation Anniversary.

Britain’s royal family gathered at Westminster Abbey Tuesday for a ceremony of pomp and prayer to mark the 60th anniversary of the coronation of Queen Elizabeth II.

Official portrait of Queen Elizabeth II in 1953 by Sir Herbert James Gunn.

Elizabeth, now 87, was crowned in the abbey on June 2, 1953, in a ceremony laden with 1 000 years of tradition. British monarchs have been crowned in the ancient London church since William the Conqueror in 1066.

Official portrait of Queen Elizabeth II in 2013.

The queen’s children and grandchildren were among 2 000 people attending Tuesday’s anniversary service, which featured hymns, prayers, a reading from Prime Minister David Cameron and a poem written for the occasion by poet laureate Carol Ann Duffy.

Archbishop of Canterbury Justin Welby, spiritual head of the Anglican church, told the congregation that the service celebrated the queen’s “path of demanding devotion and utter self-sacrifice, a path she did not choose, yet to which she was called by God.”

“Today we celebrate 60 years since that moment, 60 years of commitment,” he said.

The service was carefully designed to evoke memories of 60 years ago.

The jewel-encrusted, golden St. Edward’s Crown which the queen she wore at her coronation sat on the High Altar — the first time it has left the Tower of London since 1953.

St Edward's Crown, one of the world's most famous and valuable objects, was brought to Westminster Abbey for the first time in 60 years.

It was accompanied by a vial of aromatic oil, from the same batch used at the coronation, carried to the altar by representatives of the British people, including children and a school crossing guard.

The monarch wore oyster silk-satin brocade dress and coat, similar in color to her silk coronation gown.

The queen’s 91-year-old husband, Prince Philip, attended Tuesday’s service though he had pulled out of an event Monday evening because of illness.

Family event: Queen Elizabeth sits amongst members of the Royal family close to the altar of the grand Central London church as the service held in her honour was about to start

Traditional: Members of the choir prepare to sing for the monarch, in a service which included several elements from the Queen's Coronation on June 2 1953

Having fun: The Duchess of Cambridge grins as she speaks to the Sophie Countess of Wessex during the service attended by at least 20 royals.

Prince William, Prince Andrew and Catherine, Duchess of Cambridge arrive for the service at Westminster Abbey. The Queen returned to the scene of her coronation.

Procession: The main members of the Royal family are led away up the aisle by the Queen after the service had ended.

    Respectful: The Duke and Duchess of Cambridge and Prince Harry all looked serious as they began to  leave the Abbey.

Also attending were the queen’s heir, Prince Charles; his sons Prince William — second in line to the throne -and Prince Harry; and William’s wife Catherine, who is due to give birth to their first child next month. The baby will become third in line to the throne.

Elizabeth became monarch following the death of her father, King George VI, in February 1952. But she wasn't crowned until more than a year later, after a period of mourning. The coronation was Britain's first mass television event, watched by more than 20 million people.

Pregnant: The Duchess of Cambridge, who is due to give birth in just over a month, looked heavily pregnant as she left the church with husband Prince William. It was the first time they had been there officially since their marriage.

Members of the royal family departing Westminster Abbey

The Duke and Duchess of Cambridge greet Prince William's cousin, Zara Phillips.

Recycling Style File: Here is a closer look at the hat by Jane Taylor Millinery the Duchess of Cambridge wore today to Westminster Abbey for the 60th anniversary celebration of the Queen's coronation service. Kate wore the same hat last year for the Diamond Jubilee service at St. Paul's Cathedral.

Royal event: Queen Elizabeth arrives with her husband Prince Philip at Westminster Abbey to celebrate the 60th anniversary of her coronation, which took place there on June 2 1953.

Royal family: (Pictured left to right) Princess Beatrice, Princess Eugenie, Prince Edward and Sophie, Countess of Wessex walked through the gates at Westminster Abbey wearing wide smiles.

The Duchess of Cambridge arrives at Westminster Abbey

Westminster Abbey's incredible history is intertwined with the Royal Family's and has been the coronation church since 1066.  It has witnessed 38 coronations (fascinating to think of the various periods of history), the first being the coronation of William the Conqueror and most recently Queen Elizabeth II's in 1953.