Here's one last photo - of squash player Declan James passing the baton to boxer Lauren Price.

And that's where we leave the baton relay today.

There will be more updates on the BBC Midlands Live stream later today.

Image source, Reuters

Salma Bi, one of the Hometown Heroes said she really enjoyed being part of the ceremony this morning.

She promotes grassroots cricket in Birmingham and was one of 14 local heroes to arrive with the baton.

The dialysis nurse said her daughters would be proud to see her "be part of history" and she said it was inspiring to be among so many world-class athletes.

This was how the baton was welcomed to the palace earlier, with children holding flags for each of the 72 nations and territories represented in the Commonwealth Games.

Are you wondering what happens to that message the Queen sealed inside the baton?

It will remain inside and will only be taken out at the Commonwealth Games opening ceremony in Birmingham on July 28.

Image source, Getty Images

The tradition of the message in the baton goes back to the Cardiff Commonwealth Games in 1958 and traditionally the Queen calls on the Commonwealth's athletes to come together in a peaceful and friendly way.

The baton relay marked the Queen's first major event at Buckingham Palace since the pandemic began.

She handed the baton to four-time Paralympic champion Kadeena Cox after a message to the athletes and the Commonwealth was inserted into it.

Image source, Reu

A strand of platinum has been incorporated into the baton in recognition of the Queen's 70-year reign, which will be celebrated next year.

The baton has now left the palace and is starting the journey to Birmingham Airport.

And from there it is on to Cyprus.

Here are a few more photos from the baton ceremony this lunchtime.

Image source, PA Media

Image source, PA Media

Image source, Reuters

Birmingham Poet Laureate Casey Bailey performed his poem about the Games ahead of the start of the relay.

Afterwards he said: "I think just the spotlight on Birmingham is really important at this moment.

"Birmingham is really good at playing itself down and the whole region is very good at saying, 'no, no, no, not us, don't look at us', but actually it's an amazing region."

Image source, PA Media

Mr Bailey said he believed the Games would give the city a sense of pride, and added that he was particularly excited about the cultural programme that will surround next year's event.

Two young Birchfield Harriers athletes have today been to see the work that's being done on Birmingham's Alexander Stadium to get it ready for the Games.

Javelin thrower Finley Baker-Yearwood said: "I think it's quite a crazy thing that some of our professional athletes will be competing here."

Young middle-distance runner Simeon Swain said: "It's incredible to see what it was like before and what it's like now and how amazing it is I can train on this and train where elite racers have competed."

And both said they hoped to be involved in the games in some way, perhaps supporting the athletes.

The baton has been designed by Coventry-based artist Laura Nyahuye, who said she wanted it to be made out of "relatable" materials.

"I love using copper, plastics... in those materials there's a story, and as the baton goes around, the humans that interact with it - it's adding to the story." She said.

The baton will contain a message from the Queen and features a 360-degree camera to record and transmit stories.

It also contains atmospheric sensors to analyse each country's environmental conditions, a heart rate monitor which will display the heartbeats of baton carriers, and LED lights will change colour when two people hold it together.

The Commonwealth baton is currently being carried around the palace by athletes from the home nations.

But earlier it arrived with a group of "hometown heroes" from Birmingham.

They represented volunteers, coaches and managers who have been working behind the scenes to support grassroots sports in the West Midlands.

Image source, Reuters

Among them was blind marathon runner Dave Heeley, who was appointed an OBE in the 2020 Birthday Honours after raising millions of pounds for charity.

His endurance feats have included running marathons on seven continents in seven days and plunging into the sea at Alcatraz three months after learning to swim.

So a saunter down The Mall should have been easy.

Image source, Reuters

The Queen has now placed her message to the Commonwealth inside the baton.

And Kadeena Cox has started the relay, representing England.

Later in the relay there will be athletes from the other home nations carrying the baton too.

Ms Cox is now doing a lap of the palace.

Look who has got dressed up in his best suit to meet the Queen.

The Commonwealth Games mascot Perry appears to be among the invited guests at the palace.

Image source, Reuters

Her Majesty The Queen has just arrived for the ceremonial start of the baton relay.

Image source, Reuters

Dame Louise Martin, the President of the Commonwealth Games Federation, said her knees were shaking ahead of the baton relay launch this morning.

It's her job to hold the baton while the Queen inserts her message and she said: "As far as I'm concerned this is the start of Birmingham 2022."

Image source, Getty Images

She was also very keen to see the baton launch go without a hitch and she joked: "We made sure this one will be smooth and easy and if it isn't I'll have their necks."

Students from schools in Birmingham are involved in the launch of the baton relay this morning.

Year 10 and 11 students from Arena, City, Jewellery Quarter and Rockwood academies have been selected to be part of the flag bearing team.

Here are some of the Arena Academy students, who were up at 05:30 BST.

Image source, Kate Keating

And here we have some City and Jewellery Quarter Academy pupils.

Image source, Kate Keating

Rob Mayor
BBC Radio WM

The first person to carry the Commonwealth torch will be Paralympic champion Kadeena Cox.

She told us she is looking forward to the Games.

In case you're wondering, here's a quick look at the timetable for the baton relay launch.

The ceremony at Buckingham Palace is already under way, including performances from the City of Birmingham Symphony Orchestra and a poetry reading.

Then just after midday the ceremonial party will arrive and the Queen will insert her message into the baton.

It will then leave the palace, carried by Paralympic champion Kadeena Cox at about 12:10 BST.

And the ceremony will wrap up by 12:20.

After leaving Britain from Birmingham Airport later today, the Commonwealth Games baton is due in Cyprus on 9 October and then Malta on 12 October.

After that, it flies to Africa, visiting all 19 Commonwealth countries there, before heading to Pakistan and then Sri Lanka, Bangladesh and India.

Image source, Birmingham 2022

The baton is then due to be carried across Southeast Asia in January and the Pacific Islands in February.

In March it will travel to New Zealand and Australia, before heading to the Caribbean.

Then it's on to Canada in May, followed by the Falkland Islands, Jersey, Guernsey and the Isle of Man.

And finally it returns to the UK, where it will spend five days in Scotland, four in Northern Ireland, and five in Wales, followed by 25 in England.

The baton relay is due to last 269 days and it will travel through 72 Commonwealth nations and territories.

It will cover about 90,000 miles (140,000 km) around the world, before it is handed back to the Queen at the opening ceremony in July.

Image source, Birmingham 2022/PA Wire

After leaving Buckingham Palace it will be off to Cyprus, spending Christmas Eve in the Seychelles, new year in the Maldives and Easter weekend in Jamaica.

Andy Giddings
BBC News

The Queen's Baton Relay begins its journey from Buckingham Palace today and we're going to bring you live updates as it sets off.

It's set to make its way around the world ahead of the 2022 Games in Birmingham.