20 May 2011
Last updated at 14:01
The Queen set foot on Irish soil at the start of the historic state visit wearing the symbolic colour green.
After arriving at the Casement Aerodrome, Baldonnel, just outside Dublin, the Queen walked to her car amid tight security. The base is named after Sir Roger Casement, an Irish revolutionary who was hanged in 1916 for his involvement in the nationalist revolt in Dublin - the Easter Rising.
Irish President Mary McAleese greeted the Queen with a handshake at Aras an Uachtarain, her official residence in Dublin's Phoenix Park.
Next on the Queen's itinerary was an inspection of the Irish guard of honour. An Irish army band played God Save the Queen and carried out a 21-gun salute.
As the Queen visited the Garden of Remembrance flag-waving protesters faced a line of police officers who linked arms and stood their ground.
A moment of reflection as the Queen laid a wreath in the garden, which is dedicated to those who fought for Irish independence.
The monarch looked slightly taken aback when she was offered a pint of Ireland's most famous drink at the Guinness Storehouse on the second day of her visit. She and Prince Philip politely declined to take a sip.
The Queen took an emotionally charged trip to Croke Park in Dublin, where 14 people were killed by British forces during a Gaelic football match 91 years ago. Gaelic Athletic Association president Christy Cooney described her presence as an "honour".
Irish President Mary McAleese mouthed the word "wow" as the Queen opened her speech at Dublin Castle with the Irish words "A hUachtarain agus a chairde (President and friends)". She went on to offer her "deep sympathy" to those who had suffered in the troubled relationship between Britain and the Republic.
The Queen was shown around the Irish National Stud horsebreeding centre in Kildare, west of Dublin, on the third day of her visit. She unveiled a statue marking her visit, met jockeys and others involved in racing, and was shown stud horses.
Irish boy band Westlife performed for the Queen at the British Embassy in Dublin city centre on the final evening of the visit.
The Queen went to Tipperary to tour one of Ireland's most popular tourist sites, the Rock of Cashel, on the final day of the state visit.