Queen unveils train and Duchess given baby badge
20 March 2013 Last updated at 13:03 GMT
The Queen and the Duchess of Cambridge have celebrated the Tube's 150th anniversary at Baker Street station.
The Queen inspected a new S7 train before unveiling a plaque, naming the train Queen Elizabeth II.
Catherine, who is five months pregnant, was given a 'Baby on Board' badge by tube staff.