While last year's royal Christmas had several noticeable absences, Prince Harry was in Afghanistan and Prince William spent Christmas with his in-laws, four generations gathered this year at Queen Elizabeth II's sprawling Sandringham estate in Norfolk.
Wearing an orange coat and black fur hat, Elizabeth arrived for the service at St Mary Magdelene Church on the estate, accompanied by her granddaughter Zara Phillips, who is currently pregnant with her first child.
Many of the well-wishers gathered near the church had hoped to catch a glimpse of Prince George, the newest member of the royal family.
"We've had a good morning with George and I can't wait until next year when he's bigger," William told the crowd following the service.
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Cicely Howard, 75, asked about the baby when she greeted Kate outside of the church.
"She told me he was having a lovely day but was more interested in the wrapping paper than the presents," Howard told Britain's Press Association.
After missing last year, Prince Harry also was in attendance.
The queen paid tribute to family and milestones later yesterday in her traditional, pre-recorded Christmas message, urging reflection.