The Queen moved the audience to tears as she handed out commemorative Maundy coins at St George's Chapel at Windsor Castle, in a tradition dating back to the 13th century.
90 men and 90 women – representing her 90 years – were each given two bags of coins in recognition of their service to the church and community.
Each guest is given one red bag and one white bag, each filled with Maundy money. This year, the red purse has in it a £5 commemorative coin for the Queen's 90<sup>th birthday, and the white purse holds a 50p coin in commemorating the 950<sup>th anniversary of the Battle of Hastings.
This year the 180 men and women are senior citizens chosen from across the country.
The service, held for the first time since 1959 at St George's Chapel, commemorates Jesus Christ's commandment to love one another, after he washed his disciples feet at the Last Supper, told in John's Gospel.
The word Maundy is commonly thought to derive from the Latin translation of verse 34 of the narrative ("Unless I wash you, you have no part with me."), which begins "Mandatum novum do vobis".
An alternative theory for its origin is that it derives from the old word "to beg", from Latin medicare and the English maund.
The Maundy money tradition derives from the 13th Century, when English Kings would distribute alms to beggars in Whitehall before they attended mass on Maundy Thursday.
