PHOTOS : Joe Biden received by Elizabeth II at Windsor Castle
The 95-year-old sovereign, flanked by Joe Biden and his wife Jill, attended a parade of honor guards, dressed in the traditional red uniform and wearing the black bear hair cap, in the courtyard of the residence where she has withdrawn since the start of the pandemic.
They listened to the British and American anthems, under the bright sun, then returned for tea before Joe Biden left for Brussels where he was due to attend a NATO summit on Monday.
The Queen has already attended a reception in Cornwall, southwest England, on Friday for the first night of the G7 summit, with Joe Biden.
She had cut the cake with a saber and elicited great power leaders' hilarity by asking in the family photo, "Are we supposed to pretend we're having a good time?"
With the exception of Lyndon B. Johnson, the Queen has met with all of the US Presidents during her 69-year reign. She had received Mr. Biden’s predecessor, Donald Trump, during a controversial state visit in June 2019.