The Queen, the Duke of Edinburgh and Prince Charles are attending the annual Braemar Gathering.
This is only Prince Philip's second public engagement since undergoing surgery.
Competitors from around the world are at The Princess Royal and Duke of Fife Memorial Park for the biggest event in the Highland Games calendar.
The Aberdeenshire Gathering has a long history, stretching back in its modern form nearly 200 years.
The event is held a short distance from the Royals' summer retreat on the Balmoral Estate.
The Queen is patron of the Games and joined thousands of spectators to cheer on participants in the tossing of the caber and tug of war contests. Pipe bands and dancers also performed to a large crowd.
The Queen wore a pale pink coat and matching hat, and as she took her seat in the royal pavilion placed a tartan rug over her lap.
Twelve-year-old triplets Fergus, Fraser and Angus Wood from Braemar presented her with a heather posy.
William Meston, secretary of Braemar Royal Highland Society, said: "We're very proud of the connection with the Royal Family.
"It's tremendous, and as secretary I'm proud to welcome them every year. It's great for the whole area."
He added: "I think the traditional nature of the Games helps.
"We've got a great backdrop with the hills and a great crowd. People come from all over the world for the Gathering."
The Games take place on the first Saturday of every September.
Queen Victoria first attended the Braemar Gathering in 1848. Since then it has been regularly visited by the reigning monarch and other members of the Royal Family.
Traditionally, the Royals attend a church service at nearby Crathie Kirk the day after the Games.
The Queen took up residence at Balmoral Castle at the beginning of August and is expected to stay until October before returning to London.