Relay started in Inverness and ended in Fort William
It also visited Drumnadrochit, Fort Augustus, Spean Bridge and Glenfinnan
Baton taken over Glenfinnan Viaduct by steam train
Crowds and pipers welcomed relay in Fort William
Image source, PAAthletics fans were treated to some home-grown success at Hampden Park last night, with Eilidh Child winning the 400m hurdles.
Commonwealth silver medallist Will Sharman beat a world-class line-up to win the men's 110m hurdles and sprinter James Dasaolu equalled his season's best time in the 100m but Jamaican double Olympic silver medallist Yohan Blake pulled up injured and failed to finish the race.
Robert and Stephanie Inglis posed with the baton earlier at Inverness Castle.
Stephanie, who started the sport at the age of four, was encouraged to take up judo by her dad who is a coach with Highland Budokan Judo Club.
She is now preparing to compete for Scotland at the Commonwealth Games in Glasgow.
Former Scotland cycling coach Ivor Reid enjoyed a lap of honour round Queens Park athletics stadium with group of local school children.
Ivor has been involved with the Scottish cycling team at the last three Commonwealth Games.
Follow the progress of the baton relay via the GPS tracker on the Glasgow 2014 website, external as we continue its journey from Inverness to Fort William.
Image source, Glasgow 2014John, seen here with Rachael Mitchell, has been a key volunteer for the Highland Facilitator Team, a charity that supports young people with autism and learning difficulties.
Image source, Glasgow 2014The people who nominated him said: "He has displayed a level of individual achievement which many people twice his age cannot claim."
Image source, Glasgow 2014Azhar Khan, 16, hands the baton to 18-year-old Hamish Hepburn as relay travels along the banks of the River Ness.
Anne Simpson got in touch via email to say: "Excited about going to support Aunty Joyce at Drumnadrochit near Loch Ness.
"Came up by train last night from North Berwick."
"Enjoy your run, love Lois and Ruby and all the family in Inverness."
Keep your emails of support for the baton bearers coming.
We are flying through the baton bearers in Inverness this morning, with Kirsty Ewen becoming the eighth person to take part in the relay so far.
Image source, Glasgow 2014She shares the honour with Finlay MacLennan (above), Brendan MacDonald (below, with Nicole Smith), Robert Inglis and Team Scotland's Stephanie Inglis.
Image source, Glasgow 2014The baton relay chat has started on Twitter.
Batonrelay2014 tweet, external: "The #BatonRelay is underway in Inverness!"
Image source, Glasgow 2014The Highland Council also posted, external: "Great turn out of people at Inverness Castle as Provost oifficially welcomes relay to the city. Next stop Inverness Leisure. #batonrelay"
Inverness Castle sits in a stunning location overlooking the River Ness and is the first main stop for Queen's Baton Relay.
The castle was built on the foundations of an 11th Century defensive structure and is now the home of Inverness Sheriff Court.
Watch the video feed at the top of this page for the very latest relay action.
Rachael Wells has just emerged from Bellfield Park and handed the baton to Nicole Smith.
The relay starts in Inverness this morning, which is also known as the capital of the Highlands.
Rachael Wells will be the first baton bearer of the day, as the relay travels from Bellfield Park to Inverness Castle.
Are you watching the relay? We would love to hear from you.
Tweet #bbcbatonrelay, external or email your pictures and stories.
BBC Weather's Sarah Keith-Lucas has the forecast for the weekend ahead of the Queen's Baton journey across Scotland.
If you are heading out to watch the relay in the Highlands today, it looks like you should pack an umbrella.
Tony Nellany
BBC Scotland
BBC Queen's Baton Relay Producer Tony Nellany is following the relay today, he tweets, external: "It's day 29 on the #BatonRelay and the convoy is on its way to Bellfield Park in #Inverness #BBCBatonRelay"
The baton will visit one of the most famous locations from the Harry Potter films during its journey round the Highlands today.
This afternoon it will travel, via steam train across, the Glenfinnan Viaduct. It will also visit Loch Ness and Inverness Castle in a day filled with key Scottish landmarks.
Approximate timings for the towns the relay will reach, are as follows:
07:30 BST Inverness
10:30 BST Drumnadrochit
12:00 BST Fort Augustus
13:55 BST Spean Bridge
15:15 BST Glenfinnan
16:15 BST Fort William
Welcome to day 29 of the Queen's Baton Relay. Today the baton travels across the Highlands from Inverness to Fort William.
We expect some breaks in the video feed throughout the day as mobile phone coverage will probably be a bit patchy.
If that does happen we will keep you right up to date with our usual regular text and picture updates.
Email and tweet using #bbcbatonrelay, external.