The king and queen attended private prayers to mark the anniversary of the late Queen Elizabeth II’s death in a day of low-key commemorations by members of the royal family. Charles and Camilla spent about 30 minutes inside Crathie Kirk after making the short car journey from nearby Balmoral Castle. Charles, wearing a red tartan kilt, and Camilla, in a blue day dress and cardigan, then went over to greet a small group of members of the public, Balmoral estate workers and a handful of pupils from Crathie primary school who had gathered outside. The couple were joined by the late queen’s niece and nephew, Lady Sarah Chatto and the Earl of Snowdon, the children of her sister, Princess Margaret. The earl was accompanied by his daughter, Lady Margarita Armstrong-Jones, and Lady Sarah by her husband, Daniel, and children, Samuel and Arthur. The Rev Kenneth Mackenzie, the minister of Crathie Kirk, who officiated at the event, said: “It was a simple reflective time, a time where we were able to give thanks for the life of the late queen and recognise the poignancy of this day for that family and this community, as well as the nation and Commonwealth.” The Prince and Princess of Wales, who are in west Wales, commemorated the late queen at a 10-minute private service in the cloisters at St Davids Cathedral, Pembrokeshire, along with clergy, the choir and 20 invited guests. Thou Knowest, Lord, the Secrets of our Hearts – played during the late queen’s funeral at Westminster Abbey – was sung by the cathedral choir. The couple laid a bouquet of white flowers including ivy, eucalyptus, white roses and waxflowers beside a portrait of the late queen. They were then due to attend a reception with 20 people associated with Elizabeth’s previous visits to St Davids, as well as those active in areas in which the couple have an interest, such as mental health and early years. The Duke of Sussex was seen leaving St George’s Chapel, Windsor, where his grandmother was laid to rest next to Prince Philip, having paid a private visit there on Friday morning. Other members of the royal family are also believed to have visited the chapel privately and separately. Earlier, William and Kate posted a personal message on social media saying: “Today we remember the extraordinary life and legacy of Her Late Majesty Queen Elizabeth. We all miss you. W & C.” It was accompanied by a family photo of the late monarch surrounded by her great-grandchildren, including Prince George, Princess Charlotte and Prince Louis and her two youngest grandchildren. Princess Eugenie wrote on Instagram: “Thinking of you today. Missing you so much but remembering what a life of service, love and dedication to everyone and to your family, who loved you so very much.” The late queen’s senior dresser and confidante, Angela Kelly, also posted a tribute, writing: “I will never forget you. I will always love you. I miss you my friend.” The king had earlier recorded a message and released a favourite photograph of his mother to mark the anniversary. Charles, in words written and audio spoken at Balmoral Castle, said he recalled with “great affection her long life, devoted service and all she meant to so many of us”. He said: “I am deeply grateful, too, for the love and support that has been shown to my wife and myself during this year as we do our utmost to be of service to you all.” A 62-gun salute was fired at the Tower of London to mark the anniversary of the king’s accession, and there were also gun salutes at Hyde Park, Edinburgh Castle and Hillsborough Castle. Bells were rung at Westminster Abbey to mark the king’s accession.