Queen and Duke of Edinburgh visit Cornwall

The Queen and Duke of Edinburgh were greeted by hundreds of people who lined the streets of St Ives

The Queen met the crew from St Ives lifeboat station

The couple were presented with a picture of lifeboat the Princess Royal

Crowds also gathered on St Michael's Mount to meet the Queen

The Queen left impressions of her feet on St Michael's Mount

The Queen and the Duke of Edinburgh have visited west Cornwall.

They arrived at St Erth railway station in the Diamond Jubilee royal train.

The royal couple then went on to St Ives, where they visited the resort's lifeboat station, unveiling a plaque there, before going on to the Tate art gallery.

They also visited St Michael's Mount - a tidal island near Penzance - as guests of the St Aubyn family who live on the Mount.

The couple arrived at St Erth station on the Royal Train before transferring to a scheduled service to St Ives, where they were greeted by hundreds of people waving union jacks.

Princess Royal lifeboat

They were then taken by car to St Ives lifeboat station, where they revealed a plaque outside the station and signed the visitors' book.

The royal couple were shown the Mersey class all-weather lifeboat, the Princess Royal.

They were then introduced to St Ives harbourmaster Stephen Bassett, Paul Boissier, regional operations manager for South RNLI, and Michael Hicks, chairman of the lifeboat management group; as well as members of the lifeboat's crew.

Derek Hall, operations manager of St Ives lifeboat station, said: "We're extremely honoured to welcome Her Majesty The Queen to our lifeboat station, especially as she is the RNLI's patron, and to be able to introduce her to the many volunteers who maintain the charity's lifesaving tradition around the coast of St Ives."

The visit coincided with the launch of a £1m appeal for a purpose-built launch and recovery vehicle for a new 25-knot Shannon class all-weather lifeboat for St Ives, which is due to arrive next year.

The Queen and Duke of Edinburgh signed St Ives RNLI's visitors' book

Coxswain Paul Whiston, 53, said: "To me it's very fitting that our present lifeboat is the Princess Royal and we presented Her Majesty The Queen with a framed picture of the lifeboat in action at sea.

"This lifeboat has already given us 22 years of service and we are very proud of her."

He added the crew was grateful it was quiet during her visit.

Latin singing

He said: "If something had kicked off, we'd have had to say 'excuse me' and go."

The royal couple then made their way to Tate St Ives to meet curators, architects, staff and arts supporters before heading on to St Michael's Mount.

The Marazion Apollo Male Voice Choir sang a Latin version of God Save The Queen as the Queen and duke were introduced to Lord and Lady St Levan, who live on the island.

After being presented with a posy, the Queen stepped on material to leave permanent footprints at the foot of the island's castle.

She laughed with photographers and the duke as he also left footprints in the cast.

The couple then took a cart up to the private quarters of the St Aubyn family, where they joined a party of about 70 for a private lunch.

The Queen and Prince Philip last visited west Cornwall in 2011.