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
Kevin Jackson, BBC Baton Relay Assignment and Logistics Editor, tweets:, external "Is this cheating?! Batonbearers in Angus using pedal power for their section of the relay #bbcbatonrelay"
After a 15-minute stop at Torrie Park in East Haven, the baton relay convoy is driving to Arbroath for the next leg of the journey.
East Haven baton bearers Laura Smith and Louise Burke share their efforts in the baton relay by using a side-by-side tandem.
Image source, PA The bike sees the two bearers sitting next to each other as they pedal with the baton itself safely attached in front of the handlebars.
After a great reception in Carnoustie the baton is making the 1.5 mile (2.4km) journey along to East Haven by bike.
Are you out watching the baton relay? Don't forget to send us your pics and stories via email and twitter using the hashtag #bbcbatonrelay, external.
Tony Nellany
BBC Scotland
The rain has just started here in Carnoustie but it's not dampening the atmosphere. Cyclist and baton bearer Scott Nichol gets underway with his leg of the relay.
BBC producer Simon Dedman tweets, external: "Baton bearer READY! Police READY! Motorbike READY! #BatonRelay here we go"
Image source, ThinkstockIan Wren is the final Carnoustie baton bearer.
The ex-serviceman has spent decades working to raise money for charity.
Image source, PA He has raised over £100,000 for Horseback UK and Help for Heroes, two charities which he feels a special connection with.
The relay is setting off from Carnoustie Leisure Centre, with cheers for baton bearer Andy Johnston.
Image source, Glasgow2014He has devoted his life to sport and formed the Carnoustie Claymore Swimming Club in 2010.
The club runs seven days a week and teaches children of all ages. Andy is heavily involved in coaching the children, many of whom nominated him to become a baton bearer.
Stefan Stevenson carries the baton through Carnoustie. Cubs and scouts lined the route to Carnoustie leisure centre, where many of them got to see the baton close up.
Image source, Glasgow 2014
Ian McFarlane holds the baton while some well-wishers from the crowd examine the message from the Queen, rolled up inside.
Unless they've got x-ray specs we'll need to wait until the opening ceremony of the Glasgow 2014 Commonwealth Games to find out what it says.
Tony Nellany
BBC Scotland
It's a fresh (chilly) morning here on Carnoustie Golf Course for John Campbell and Cameron Stephen.
Tony Nellany
BBC Scotland
Tony Nellany tweets, external from the road: "The media travelling with the #BatonRelay have started the morning by singing to each baton bearer. #BBCBatonRelay"
Angus police tweets:, external "#BatonRelay blue light agency partnership working in Angus @AngusCouncil, external today - with a little help from @Clyde2014 , external"
Image source, TwitterThe baton has now moved to the Carnoustie golf course where it it will be photographed on club's famous greens.
Sarah Anderson is the next baton bearer. She represents Tayside Special Olympics at ten pin bowling. She has won medals at national and European games.
Image source, Glasgow2014She is also heavily involved in fundraising for her team and recently abseiled from the tower block at the University of Dundee to help raise money for charity.
Two early Monifieth runners Emma Conway and Laura Hare pose for this picture as Emma hands over the Baton.
Image source, Baton2014Emma is a primary teacher who has spent the past seven years coaching several after-school teams and is a passionate advocate for getting children involved in sport from an early age.
At the time of her nomination Emma was seen on the touchline coaching a local football team, despite being seven months pregnant.
Andrea Cameron, a lecturer at Abertay University, sent us an email wishing one of her students well on the baton route.
She writes: "Sending greetings to Ryan Beattie running in Carnoustie today from one of his lecturers at Abertay.
"Ryan, brilliant experience - really enjoy it."
Image source, Glasgow 2014Get in touch with your stories and pictures via email or Twitter using the hashtag #bbcbatonrelay, external
We're now in Carnoustie.
Next up is baton bearer Alan Soutar who has enjoyed a career as a successful athlete in his own right, as well as devoting his spare time to encourage young people to become involved in sport.
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Image source, PAIn 2012 he formed the Angus Darts Academy which offers sporting services for over 100 children and teenagers from the age of eight.
Looks like the Police Scotland commander for Angus, Gordon Milne, is watching our live feed today, judging by the screen grab he's just posted on Twitter.
He tweets, external: "Retired #anguspolis cop Mark Callison smiles ear to ear carrying the #queensbatonrelay in Monifieth. Go yourself son"
In the next tweet he adds: "Hunners turn out for the #queensbatonrelay in Angus. Monifieth streets are lined with well wishers with #anguspolis on point"
Amanda Waugh tweets:, external "Fantastic start to the #batonrelay in Angus this morning. So proud of all our local heroes. Enjoy your day. #qbrangus #bbcbatonrelay"
Stuart Driscoll is the last runner for the baton's time in Monifieth.
After a short journey it'll arrive in Carnoustie where we will bring you the latest on its journey.
Don't forget to get in touch with your stories and pictures via email or Twitter using the hashtag #bbcbatonrelay, external