Prince Philip, 94, drove President Obama and the first lady to Windsor Castle on Friday after they helicoptered in.
Marine One landed on the golf course next to the castle, and Elizabeth II, chauffeured by husband Prince Philip, waited on the lawn for the Obamas,
The Daily Mail reported.
Prince Philip drove 400 yards to and from the castle in their navy Range Rover.
The queen, who turned 90 the day before, exited the vehicle independently, according to reports.
Prince Philip turns 95 next month and is known to be experienced at driving vehicles and horse-drawn carriages,
The Guardian reported.
The couples shared a 45-minute lunch during the Obamas’ first full day in London.
This is Obama’s third visit with the queen since taking office.
"Each time, the president has come away with an even deeper personal affection for her," Obama spokesman Josh Earnest said,
according to The Associated Press. "She is an important symbol of a country with whom the United States has a special relationship. But she also is a human being whose charisma and a sense of nobility and honor is something that I think people around the world are attracted to."
Prince William and Kate Middleton, the Duke and Duchess of Cambridge, along with Prince Harry, are scheduled to host the Obamas for dinner at Kensington Palace.
The Obamas brought a birthday gift for the queen, a photo album of the queen’s visits with U.S. president and first ladies starting in 1951, the AP noted.
Obama is expected to meet with Prime Minister David Cameron to discuss issues including the multinational campaign against the Islamic State, the global economy, Russia's stance toward Ukraine, Britain's possible exit from the European Union, and the U.S. presidential campaign, the AP said.
The encounter fascinated many Twitter users.
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