Every year, a number of people equal in amount to the monarch’s age, receive Maundy Money - specially minted coins, on Maundy Thursday.
This year it was 93 people, two of which were from Dorset.
Sylvia Stokes was one - she's a former Micrographic Technician, whose work played a crucial role in the Falklands War.
And another was Peter Yeates, who has served many years as Churchwarden at the village Parish Church of Holy Trinity in Swyre.
He was born to a farming family on the Jurassic Coast and still works daily on the farm.
And our reporter Fern Balch went along to meet him, to hear about meeting the queen, and life in general on the farm in Dorset.