During her visit to the Royal Artillery Barracks in Woolwich in south-east London, close to the spot where the 25-year-old soldier Drummer Lee Rigby was killed, she met privately with those who coordinated the response by the barracks to the terror attack.
She also had private meetings with those in Drummer Rigby's direct chain of command during her visit to the King's Troop Royal Horse Artillery unit - the ceremonial military unit responsible for firing gun salutes in her honour.
A mounted guard of honour stood by for her arrival near the hundreds of floral tributes that have been laid or tied to the barracks' railings in memory of Rigby.
On the parade ground, she was greeted by the King's Troop's commanding officer Major Mark Edward.
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After receiving flowers she moved inside Gun Park to present Afghanistan medals to the soldiers from the King's Troop - all fighting servicemen - and chatted to families of the unit's service personnel.
"We would like to emphasise that Lee would not want people to use his name as an excuse to carry out attacks against others. We would not wish any other families to go through this harrowing experience and appeal to everyone to keep calm and show their respect in a peaceful manner," the statement read.
Religious leaders in Woolwich were due to gather at the Greenwich Islamic Centre after Friday prayers today in an attempt to encourage peace in the local community.
Michael Adebowale, 22, has been charged with Rigby's murder and appeared before Westminster magistrates yesterday.
A second suspect, Michael Adebolajo, 28, remains under arrest at a London hospital where he is being treated.
Both men were shot by police at the scene of the incident before being arrested.
Police have arrested eight other people in connection with the investigation so far and six of these have been bailed and two released without charge.