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More than 30 royals were among more than 70 guests joining the Queen for the lavish affair.
Charles handed the torch to the Queen and invited her to light the principal beacon - a large brazier on a 20ft (6m) pole at the start of the Long Walk.
The Royal party left for the Queen's private birthday dinner and expected among the guests were the Duke and Duchess of Cambridge, Prince Harry and other senior royals.
The Queen's day began with the monarch acknowledging the well-wishes of the thousands who filled Windsor town centre when she went on a walkabout.
"I think she just said 'hello', she recalled after their meeting.With the beacon towering above them Charles handed a flaming torch to the Queen who lit a fuse which set off a series of small controlled explosions which ignited the beacon.It took a while to get going and Bruno Peek, who has organised a number of national beacon lighting events to mark royal anniversaries, said Philip quipped: "It's not going up".This handout portrait picture taken by US photographer Annie Liebovitz shows Queen Elizabeth II (C) posing with her two grandchildren, James, Viscount Severn (L) and Lady Louise (2L) and her five great-grandchildren Mia Tindall (holding handbag), Savannah Philipps (3R), Isla Phillips (R), Prince George (2R) and Princess Charlotte (C) in the Green Drawing room at Windsor Castle in Windsor.This picture is one of three official photographs released by Buckingham Palace to mark Queen Elizabeth II's 90th birthday.