The Duke of Edinburgh, Duke and Duchess of Cambridge and Prince Harry all attended the event.
Wearing a Grey Erdem coat and a John Boyd hat, Kate arrived with her husband and Prince Harry.
Other guests included Prince Philip, Prince Andrew, David Cameron and the outgoing Commonwealth Secretary General Kamalesh Sharma.
The head of the Commonwealth’s message read: “Today, and in the year ahead, the theme An Inclusive Commonwealth is an inspiration for us all.
“Let us give it practical effect by supporting those in need and those who feel excluded in all walks of life. By doing so, we will continue to build a truly representative Commonwealth community.
Prince William and Kate arrive at Westminster Abbey
The Queen attends The Commonwealth Observance Day Service
“Our recognition of this value, and the wisdom of mutual respect for each other, is set out in the Commonwealth Charter. Its opening words, ‘We the people of the Commonwealth’ convey the conviction that individuals, as well as governments, build and shape our success.
The Duchess of Cambridge wearing a Grey Erdem coat and a John Boyd hat
“True celebration of the dignity of each person, and the value of their uniqueness and contribution, involves reaching out, recognising and embracing their individual identity.”
Kate and Prince Harry
After the service the William, Kate and Harry will attend a reception for members of the congregation.
In the evening, the Queen and Prince Philip will attend a reception hosted by Mr Sharma at Marlborough House, the home of the Commonwealth Secretariat, near Buckingham Palace
Members include Australia, Canada, Cyprus, Fiji, Ghana, Grenada, India, Jamaica, Malaysia, New Zealand, Nigeria, Pakistan, Singapore and South Africa.
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