Queen Elizabeth II marked the 60th anniversary of her coronation Tuesday with a ceremony at Westminster Abbey attended by some 2,000 people, including nearly two-dozen members of her immediate family.

Various members of the Royal Family arrived at the abbey ahead of the Queen, including Prince Charles and the Duchess of Cornwall, Prince William and the Duchess of Cambridge and Prince Harry. Prince Philip, who missed a gala event Monday evening due to illness, was at his wife’s side for the service.

The Queen arrived at the abbey in the Coronation Carriage, the same one she rode in 60 years ago. Her dress and matching coat were similar in colour to her oyster silk coronation gown.

The 87-year-old monarch was crowned at Westminster Abbey on June 2, 1953, after a period of mourning following the death of King George VI in February, 1952.

The crown used in that lavish affair -- the 350-year-old St. Edward's Crown -- sat on the altar for the anniversary ceremony. Tuesday marked the first time the crown has left the Tower of London since the coronation.

Resting beside the crown was a vial of aromatic oil from the same batch used 60 years ago. It was carried to the altar by members of the public, including children and a crossing guard.

The service opened with traditional hymns and prayers and included a reading by British Prime Minister David Cameron. Poet Laureate Ann Duffy wrote a poem just for the occasion.

Archbishop of Canterbury Justin Welby told the congregation that the service celebrated the queen's "path of demanding devotion and utter self-sacrifice, a path she did not choose, yet to which she was called by God."

Bonnie Brownlee, former adviser to the Royal Family, said Tuesday that the coronation celebrations mark a particularly happy time for the British monarchy, especially with another great-grandchild on the way courtesy of Prince William and his wife, Kate.

"It’s been a good three or four years," Brownlee told CTV’s Canada AM. "William and Kate have changed the dialogue and how we actually think about the Royal Family."

Of the Queen, Brownlee added: "Sixty-one years on the throne, a life devoted to service and country. As hokey as that sounds, that’s what she's actually done and she’s done it with great admiration."