The Duke of Edinburgh takes on number plate used by Prince Philip

The Duke of Edinburgh has taken on the number plate used by Prince Philip in a touching nod to his late father.

Prince Edward was pictured at the wheel of a Range Rover bearing the OXR1 plates as he arrived at the Royal family's annual pre-Christmas lunch at Windsor Castle on Wednesday. 

The late Duke of Edinburgh first started using the plates in 1954 on a specially built Lagonda 3-litre drophead coupe which he kept until 1961.

He then moved the plate over to an Alvis TD21, which was later refurbished and put on display at the museum in Sandringham with the same number plate. 

Following that, the late Duke drove a Land Rover Discovery with the number plate OXR 2. 

Now it is held by his youngest son, 59, who drove his wife Sophie, 58, and their daughter Lady Louise Windsor, 20 to the annual lunch held by King Charles III.

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A number of other extended relatives joined Charles and Camilla for the traditional meal today.

Zara Tindall and Princess Eugenie were among the royals pictured leaving Windsor Castle - with Prince Andrew, who may soon face fresh scrutiny over his ties to paedophile financier Jeffrey Epstein, also seen being driven away.

As the evening wrapped up, members of the family - which included Princess Anne's son Peter Phillips, the Prince and Princess Michael of Kent and Edoardo Mapelli Mozzi - were snapped departing from the festive gathering.

The Duke and Duchess of Edinburgh, along with Princess Anne, led arrivals earlier today.

They were closely followed by the Princess Royal, 73, sporting a chic emerald green ensemble as she was driven by her husband Tim Laurence, 68.

Their daughter Zara Tindall and her husband Mike were also snapped at today's event.

Lord Frederick Windsor - who is the son of the Prince and Princess Michael of Kent - was also seen, with his wife Sophie and their children.

Elsewhere, Lady Helen Taylor also attended with her husband and kids.

Princess Eugenie and her husband Jack Brooksbank could also be seen driving away after enjoying the festive lunch.

The King and Queen treated dozens of relatives to a sit-down meal - which has typically taken place annually on the Wednesday before Christmas, shortly before the monarch leaves for Sandringham for the holiday season.

The tradition is one of the rare times when all the monarch's extended family meet, and is a chance for Charles to celebrate with those who do not receive an invitation to spend Christmas in Norfolk with the senior royals.

The family are seated at round tables, enjoy a Sandringham-bred turkey lunch and pull crackers.