Earlier, Paul emailed in to say he watched his relative Alistair Joss carry the baton on the BBC video stream.

Chris Macqueen has been in contact to say: "Well done Elizabeth Ferris. What a great honour to carry the baton. Although we couldn't be there in person the live streaming from the BBC and the camera car made it like we were there with you."

Thanks Chris. If you would like to know more about how the BBC is filming the Queen's Baton Relay through Scotland, watch Cameron Buttle's package about the media vehicle.

Royal Research Ship Discovery was the last traditional wooden three-masted ship to be built in Britain. In 1901, she carried Robert Falcon Scott and Ernest Shackleton on their first journey to the Antarctic, spending two years locked in the ice. The ship now forms the centrepiece of a visitor attraction, external here in Dundee.

Image source, Glasgow 2014

Rachel Beattie is pictured proudly holding the baton.

If you're thinking it resembles the ship's masts, you'd be correct. A boatbuilding technique normally used to make masts was employed to shape the baton's handle.

The police escort must love Michael Cordiner. Clearly inspired by the news about Usain Bolt competing at Glasgow 2014, he has just rocketed through the streets of Dundee smiling all the way.

Image source, Glasgow 2014

To a loud cheer from the crowd, Shaney McCabe has just passed the baton to Jane Dunlop in Dundee.

Findlay Stein
BBC Scotland

According to Glasgow 2014, around 500 athletes and team officials in the shooting competition will stay in the Dundee area during the Games.

Paul Macadam-Slater emailed in to say: "Just wanted to say well done to Alistair Joss on carrying the Queen's Baton in Dundee.

"Watched you on the live feed. From Paul (Alistair's 2nd Cousin) , Laura, Debbie & Jadzia in Fort William."

Are you watching on our video stream? Let us know what you think.

Here's a great picture of Dave Combe getting mobbed by some eager spectators at Magdalen Park all keen to touch the baton.

Image source, Glasgow 2014

Eager baton bearer Olwyn Day joins the relay early to meet Commonwealth Games mascot Clyde at Magdalen Park in Dundee. Olywn runs with the baton this afternoon.

Her mum Ashley (right) described her daughter's moment as "a once in a lifetime opportunity".

Elizabeth Ferris will carry the baton shortly in Dundee.

Chris, Eileen and family have emailed their support:

"Enjoy the relay. We're looking forward to seeing your smiling face as you carry the baton. Your Mum must be very proud. Sorry we can't be with you but are watching great pictures online. Thanks BBC and Dundee!"

Oliver is an ambassador for young people fighting to succeed in spite of illness and disability, particularly those with 'hidden' illnesses such as ME and mental health problems. He uses his experience to give advice and support to others, and he always aims to make a real difference for other young people.

Image source, Glasgow 2014

While all eyes will be on Usain Bolt at the Commonwealth Games in Glasgow, another man to watch out for is Zharnel Hughes.

The Caribbean sprinting sensation, who trains with Bolt, made headlines earlier this year when he won the 100m at the Jamaican Inter-Secondary Schools Boys and Girls Athletics Championships.

His time of 10.12 seconds beat a record set by a certain Yohan Blake, who also shares a training ground with Hughes.

One day this young Anguillan, who is set to star at Glasgow 2014, could compete for Team GB at the Olympics.

Image source, Glasgow 2014

The crowd are cheering loudly for Hannah Craig as she carries the baton. Cars and lorries are also sounding their horns in support.

BBC Weather's Peter Sloss said: "Some occasional brightness today but otherwise a fairly cloudy day and feeling cool with the breeze off the sea. It will stay dry though, top temperatures of 13C."

David Grevemberg, Chief Executive of Glasgow 2014, says Scotland "has the biggest Hampden roar" waiting for Usain Bolt. The six-time Olympic champion says he is available to compete at this year's Commonwealth Games.

Earlier in the week we shared a video of the baton relay's police escort warming up by doing a penguin dance.

It looks like they're at it again outside Dundee Science Centre.

This time they've got some children and a penguin to join in. Well, someone dressed as a penguin.

Allison Stewart and family have emailed to say: "So proud of my mum & granny Anne Garrick carrying the baton this morning in Broughty Ferry".

Image source, Glasgow 2014

Anne is pictured passing the baton to Dave Mills.

If you know any of today's baton bearers, please email or tweet , externalyour messages of support.

Church bells are ringing out for the baton as it gets carried into Dundee Science Centre.

We think it's for the baton. Either that or someone is getting married very early.

Findlay Stein
BBC Scotland

The Emirates Arena will play host to the first para-sport track cycling events in Commonwealth Games history, according to our friends at Glasgow 2014.

With Usain Bolt announcing he is available for Glasgow 2014, find out about the Jamaican university that changed the world of athletics.

Simon Dedman
BBC News

Allison Wallace and Micoh out were out early to see the baton arrive. Around 300 people (and one cute dog) welcomed the baton to Broughty Ferry.