Queen Elizabeth Welcomes President Barack Obama and First Lady Michelle Obama for a Belated Birthday Lunch at Windsor Castle

Queen Elizabeth Welcomes President Barack Obama and First Lady Michelle Obama
From left: Prince Philip, Queen Elizabeth, President Barack Obama and First Lady Michelle Obama
Alastair Grant/AP

04/22/2016 AT 09:00 AM EDT

A royal handshake!

Just one day after her 90th birthday celebration, Queen Elizabeth had something else to celebrate – the arrival of President Barack Obama and First Lady Michelle Obama to Windsor Castle on Friday.

The Queen and husband Prince Philip greeted the President and First Lady as their helicopter landed on the castle grounds.

Dressed in a pale blue suit and matching printed scarf, the Queen led the group to the royal couple's navy Range Rover and Philip drove everyone back to the castle, where they are set to have lunch. Michelle chose a purple Oscar de la Renta dress and Narciso Rodriguez coat for the royal occasion.



Earlier in the week, Michelle mentioned her upcoming royal encounter during an event with children of White House employees.

When asked her favorite part of the job by one of the kids, she replied: "I like to travel. I've been able to see the world. On Friday, the President and I are going to have lunch with the Queen of England. That's really going to be pretty cool. We're going to go to Windsor Castle and we're going to have lunch with the Queen. Pretty cool."



And the Obamas didn't come empty-handed! They reportedly brought the Queen a birthday gift – a small box wrapped in gold paper and embossed with the presidential seal was spotted by reporters. Attached to the gold box was a small white envelope with the words "White House" in the upper left corner, addressed to Her Majesty Queen Elizabeth II.

The visit marks President Obama’s third visit with the Queen.

In an op-ed in the Daily Telegraph on Friday, the President weighed in on the U.K.’s possible exit from the E.U., which has resulted in a divisive debate among the British people.

"The United States sees how your powerful voice in Europe ensures that Europe takes a strong stance in the world, and keeps the E.U. open, outward looking, and closely linked to its allies on the other side of the Atlantic," he wrote.

"Now is a time for friends and allies to stick together," Obama wrote, adding that the decision was "a matter of deep interest to the United States."

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Later this evening, the Obamas will meet with the younger royals when Prince William, Princess Kate and Prince Harry host a special dinner at Kensington Palace.

"They were delighted that they were able to accept," a palace source says of the dinner.

A U.S. official tells PEOPLE that both the lunch and the dinner are "small, private" occasions.

Harry and Michelle will have lots to catch up on as the two became fast friends during the prince's memorable visit to D.C. last year. And the pair are set to reunite again in May at the royal's Invictus Games in Orlando.

President Obama also has plans to meet with British Prime Minister David Cameron during his three-day visit.
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