The relay started at 08:20 BST with a handover ceremony on the border of Dundee city and Angus
The Queen's Baton Relay will travel throughout Angus, visiting Arbroath, Forfar and Montrose
The baton will stop at Glamis Castle shortly after 1500 BST
Baton bearer Craig Robinson has been a key figure in the development of sailing in his local community.
As a member of Montrose Sailing Club, he has been involved in setting up a training programme for young people.
The people who nominated Craig said: "As a result, the club membership is healthier than it has been for many years. Without his help this wouldn't have been possible."
Martin, who is a ten pen bowler, is also involved with Angus Disability Sports.
He's competed at both the National and European Games, and took home medals at last year's Special Olympics in Bath.
Well done Martin.
Baton bearer Jim Houghton is described as "an extremely-committed supporter of disability sports" by those who nominated him. He has volunteered as a table tennis coach with the Tayside Special Olympics group.
He also volunteers with Angus Disability Sports.
Image source, Glasgow 2014Marjorie was nominated for her commitment to the Girl Guides. She has been a volunteer with the organisation for around 50 years.
She's also a member of the Macmillan Cancer Support Group, and the people who nominated Marjorie said that under her motivation the group raised over £104,000.
Image source, Glasgow 2014Welcome to the relay Kirriemuir. Robin Baillie is the first to carry the baton in the small town.
Image source, Glasgow 2014If want to head out to watch the relay, here is rough schedule for the rest of the day
15:55 Kirriemuir
17:45 Brechin
18:25 Montrose
Abbi Aitken is the final baton bearer in Glamis and despite the rain she looked like she enjoyed every moment.
Next stop, Kirriemuir.
Tennis fan Rhona has been the driving force for developing the sport in the town. She has been the secretary of Montrose Tennis Club for over ten years and during her tenure the club's membership has increased from 120 members to over 300.
She has also helped raise money to redevelop the club's facilities and her efforts have gone towards the installation of six new courts.
Angus Council tweets:, external "Fantastic moment for our youngest #batonbearer Stewart Watson at Glamis Castle #QBRAngus"
Craig Frew
BBC Scotland
If you are watching the video at the top of the page you will have noticed the relay has stopped for a short break at Glamis Castle.
In the meantime, keep your messages of support coming or if you have carried the baton today we would love to hear about the experience.
Email or tweet using the hashtag #bbcbatonrelay, external.
We will be back soon.
As the number of people to carry the baton increases, so do the likes on the BBC Queen's Baton Relay Facebook page, external.
Could this be the day we finally break the 1,000 followers mark? Tell your friends about us!
The Queen's Baton Relay will arrive in Aberdeenshire tomorrow.
Highlights include trips to Skara Brae, Dunnottar Castle and a North Sea oil platform.
Read our guide to the relay in the north east for a detailed breakdown on where the baton will visit.
Stewart Watson is the youngest baton bearer in the Angus leg of the baton relay. As well as being a Young Ambassador at his school Montrose Academy, he spends his time training in athletics, with the pole vault being his specialist event.
Image source, Glasgow 2014We won't let the rain dampen our spirits as the Queen's Baton arrives in Glamis.
Image source, Glasgow 2014The first baton bearers to carry it in the village are Jennifer Sandeman, John Dempsey and Frances Walker.
Tony Nellany
BBC Scotland
tweets:, external "Not long until #BatonRelay arrives @GlamisCastle., external The castle features in Shakespeare's #Macbeth #BBCBatonRelay, external".
The Queen's Baton Relay is continuing its 40-day journey across Scotland ahead of the Commonwealth Games in Glasgow.
Over the last week, the baton visited several iconic Scottish landmarks including the Burns Cottage in Ayrshire and the Kelpies in Falkirk.
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Image source, Glasgow 2014 You can watch the best moments of the baton's trip across central and west Scotland in our highlights video.
Craig Frew
BBC Scotland
Have you even seen the Forfar guard of honour? You have now!
The relay police team celebrate Elizabeth Nicoll's moment with the baton. She was the final baton bearer in Forfar.
Well done Elizabeth. Keep you emails and tweets on #bbcbatonrelay, external coming.
Image source, Glasgow 2014The people of Angus are being encouraged to get behind Anguilla, Gibraltar and the Maldives as their second teams for the Commonwealth Games.
The programme is led by sportscotland and aims to link all 32 of Scotland's local authorities with the 71 nations and territories of the Commonwealth.
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Image source, Glasgow 2014During the international section of the Queen's Baton Relay, we met a swimming group from the Maldives who do their training in the Indian Ocean.
We also interviewed Anguillan sprinting sensation Zharnel Hughes, who may become the next athletics star for Team GB, and found out about a tennis academy in the Caribbean nation that gives young people a chance of higher education.
The baton has now left Forfar and is being driven on the five-mile journey to Glamis.
Glamis sits four miles south of Kirriemuir and is best known for its famous castle which was used by the Royal family as a holiday destination.
Angus Police tweets:, external "The baton is in good hands. #dontdropitguys"
Image source, Twitter