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Senior members of the Royal Family gathered for the first time since the arrest of Andrew Mountbatten-Windsor this afternoon to celebrate Commonwealth Day. The King and Queen publicly united with the Prince and Princess of Wales for the annual service, having arrived at Westminster Abbey amid noisy protests from the anti-monarchy group Republic.

Dozens of campaigners held huge yellow placards that read "Abolish the monarchy", "Not my King" and "Down with the crown", while the group's CEO Graham Smith led the chant: "Charlie, Charlie, time to go." Another sign read "What did you know?", in relation to the King's brother's recent arrest on suspicion of misconduct in public office.

Some protesters held signs featuring images of Andrew that were released in the Epstein files, writing above the photos: "Charles, what did you know?"

Earlier on Monday, his security were pictured walking his dogs, which include two corgis that once belonged to his mother, the late Queen Elizabeth.

Andrew hasn't been seen in public since he was photographed slouching in the back of a car following his release from custody.

But the Abbey bells and performances from Commonwealth musicians all but drowned out the chants of the protestors, who started to yell "what did you know?" as the royals pulled up outside the entrance.

The Duke and Duchess of Gloucester were the first of the royal party to arrive, followed by The Princess Royal and her husband Vice Admiral Sir Tim Laurence and then the Prince and Princess of Wales.

All were greeted by the Dean of Westminster and presented to the Chapter and members of the Royal Commonwealth Society at the Abbey's Great West Door.

The King and Queen, who wore a bright red coat by Fiona Clare, a matching hat by Philip Treacy and a palm leaf brooch that once belonged to The Queen Mother, arrived last.

After shaking the hands of those in the line-up, the King and Queen greeted the rest of the family with warm kisses.

Charles opened up his arms to welcome his eldest son and heir, while the ladies erupted into a fit of giggles when they struggled to perform the traditional greeting of kisses on both cheeks due to their wide-brimmed hats.

Catherine, who was wearing a navy blue Catherine Walker dress and a statement hat with netting covering the brim, laughed as Anne smiled apologetically at her, indicating that she wouldn't even attempt a kiss.

The King's sister had opted for a smaller hat that rested neatly on her bouffant hairstyle, while Camilla's wide-brimmed hat proved equally problematic.

The family then formed into a processional group ahead of the National Anthem, before walking to their seats behind the Commonwealth Mace Bearer during the first hymn "Praise to the Lord, the Almighty, the King of Creation".

Among the guests were Prince Albert of Monaco, the Prime Minister and other senior politicians, opposition leader Kemi Badenoch and outgoing BBC director general Tim Davie.

The corporation's decision to pull live coverage of the service was heavily criticised by royal experts and social media users. The BBC, which aired Escape to the Country, blamed budget cuts for not broadcasting the event, which has been screened live on TV annually since 1989.

They said in a statement: "Our decision not to broadcast the Commonwealth Day ceremony in the same way we've done in previous years reflects the difficult choices we have to make in light of our funding challenges.

"BBC News plans to cover the service across its platforms, including the BBC One bulletins and rolling news channel."

The Commonwealth Service, which has been held since 1972, celebrates the diverse people and cultures of the Commonwealth nations.

The annual church service, a staple in the royal calendar, is the highlight of a week-long series of events and activities happening around the Commonwealth, including faith and civic gatherings, debates, school assemblies, flag-raising ceremonies and cultural events.

This year's theme, "Unlocking opportunities together for a prosperous Commonwealth", highlights how the member countries of the Commonwealth can rally together to face today's challenges and unlock opportunities that can deliver shared and lasting prosperity.

As head of the Commonwealth, Charles used his message to say the institution has "untapped potential for prosperous trade between trusting partners".

Many countries, including the UK, have faced the threat of trade tariffs under US President Donald Trump, who has used the measure as a revenue-raising exercise.

He also urged members to work together and "stand as a force for good" during "a time of great challenge" across the world.

The hour-long service saw the world premiere of the Commonwealth Symphony, composed by Rekesh Chauhan, and a bespoke dance collaboration between the Royal Ballet School and Sapnay Entertainments, uniting classical ballet and Bollywood in an expression of cross-cultural partnership.

Spice Girl Geri Halliwell-Horner, an ambassador for the Royal Commonwealth Society, which stages the event, and former Strictly Come Dancing judge Oti Mabuse give readings.

The pair joined the line-up at the end of the service, with the former singer enthusiastically hugging the royal party.

Charles complemented the dancers, who performed barefoot on the abbey's cold floor.

William also told them: "How was the dancing? I wondered what the marble was like with bare feet. Good, fantastic. Thank you very much."

As head of the Commonwealth, Charles issues an annual message to the 56 member nations, which will hold their biennial Commonwealth meeting this year during the first week of November in the capital of Antigua and Barbuda.

Inspired by the meeting's theme - accelerating partnerships and investment for a prosperous commonwealth - the service celebrated collaboration as the defining strength of the modern family of nations.