The Queen, Catherine and Camilla visit Fortnum & Mason

The Queen, the Duchess of Cambridge and the Duchess of Cornwall have chosen a luxury London store for their first official joint visit.

The trio arrived at Fortnum & Mason and were given a tour of its famous food hall.

A plaque to commemorate the regeneration of the local Piccadilly area was unveiled by the Queen.

A small crowd gathered outside the store, including a group protesting about foie gras sales.

Camilla, Catherine and the Queen were all dressed in shades of blue for the visit.

The Queen wore a pale blue outfit with a matching hat, while Camilla was dressed in a navy blue coat with white horizontal stripes at the top.

Meanwhile Catherine, wearing a mid-blue, above-the-knee coat, chatted to London mayor Boris Johnson, who was among dignitaries greeting the royal guests.

'How marvellous'

The trio browsed luxurious delights before they were each presented with a Fortnum's hamper, containing delicacies including champagne truffles - and dog biscuits.

The Queen spoke to some of the store's workers including Joan Goff, 86, who as a teenager worked at the store during World War II.

She said she had seen the Queen, then Princess Elizabeth, during that time.

"She didn't come very often but I did see her in the shop once or twice," said Mrs Goff.

"Today I told her that I had been here when I was 14 and she said, 'how marvellous'."

Queen's Trust

The royal guests also met military personnel involved in the Gifts For Troops scheme, which sends packages to soldiers serving in Afghanistan.

The Queen met recipients of grants from the Queen Elizabeth Scholarship Trust (Qest) - the charitable arm of the Royal Warrant Holders' Association.

Qest makes awards ranging up to £15,000 to craftsmen and women of all ages to help them further their careers.

It was established in 1990 to celebrate the 150th anniversary of the association.

Since 1991, it has awarded £1.5m to 242 craftspeople for study, training and work experience.

A range of improvements, costing £14m, have been made to Piccadilly and surrounding streets by Westminster Council, including extra pavements, new central pedestrian strips to help people cross and new street lighting.