PO Arron HoareEighty-six sailors marched from Windsor Barracks along the route normally taken by the Army's Household DivisionRoyal Navy sailors have performed the Changing of the Guard at Windsor Castle for the first time.
Eighty-six sailors marched from Windsor Barracks along the route normally taken by one of the Household Division's Foot Guards Regiments at 11:00 GMT.
Lt Cdr Nicola Cripps, from Windsor, Berkshire, led the parade as the first naval officer to be Captain of the Queen's Guard at Windsor Castle.
The procession followed Sunday's parade at Buckingham Palace.
PO Arron HoareLt Cdr Nicola Cripps lead the parade as Captain of the Queen's GuardLt Cdr Cripps, who went to Newlands Girls School in Maidenhead, said the procession was a "tremendous honour" and a highlight of her 13-year career.
The 36-year-old added: "It's a very proud moment for me. I'm quite sure that everyone in today's Guard will be telling their grandchildren in years to come what an honour it was."
PO Arron HoareThe sailors dressed in navy blue greatcoats with white webbing as residents and tourists lined the streetsThe sailors dressed in navy blue greatcoats with white webbing and caps as residents and tourists lined the streets.
One tourist said she thought the procession was "absolutely magical".
Another added: "It was quite impressive. It was really something to be very proud to see the Royal Navy for the first time [perform] the Changing of the Guard."
PO Arron HoareOne tourist said she thought the procession was "absolutely magical"It is believed the last Royal Navy Captain of the Queen's Guard was Sir Walter Raleigh, in 1587 under the reign of Elizabeth I.
The sailors will also take over the Changing of the Guard at St James's Palace, Windsor Castle and the Tower of London until 8 December.
The Household Division's Foot Guards regiments have guarded the reigning monarch at Windsor Castle for more than four centuries.
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