Kate and William join the Queen for church service at Balmoral

Prince William and Kate Middleton have been pictured attending a church service with the Queen, after the royal couple arrived in Scotland with their children on Thursday.

The Duke and Duchess of Cambridge smiled and waved as they were driven in the same car as the monarch to Crathie Kirk Church.

Kate, 37, looked stylish in navy - letting the Queen shine in her pink ensemble.

While his wife and grandmother sat next to each other at the back of the vehicle, William, 37, travelled up front.

They were among a host of other royals making their way to the church in their Sunday best, including Prince Charles and wife Camilla, Duchess of Cornwall, as well as Prince Edward with daughter Lady Louise Windsor, and Princess Anne with her son Peter Phillips and wife Autumn.

The Duke and Duchess of Cambridge flew from Norwich to Aberdeen with their young children Prince George, Princess Charlotte and Prince Louis for a Bank Holiday stay at the Queen’s Scottish residence.

The family travelled on a budget flight along with their nanny Maria Borrallo, according to the Daily Mail.

“The family were sat right at the front. I fly this route all the time and we were none the wiser. No-one knew they were on the flight,” a fellow passenger on the plane said.

It comes after Prince Harry and Meghan Markle - who are yet to travel up to Balmoral - came under fire for taking four private jets in 11 days after speaking out on environmental issues.

On one occasion, the Duke and Duchess of Sussex flew to Ibiza with baby son Archie in what was estimated to be a $36,000 round-trip.

It is thought the couple couldn’t make it to Balmoral this weekend due to prior commitments - including Harry, 34, attending the Rugby League Challenge Cup Final.

Got a story tip or just want to get in touch? Email us at lifestyle.tips@verizonmedia.com

Want more lifestyle and celebrity news? Follow Yahoo Lifestyle on Facebook, Twitter and Instagram.

Or sign up to our daily newsletter here.