The Queen is to welcome the Olympic Torch Relay to Windsor Castle on 10 July and the 2012 Games flame is to visit three other royal residences in its journey around the UK.

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While the Queen plays host at Windsor, Prince William, Duchess Catherine and Prince Harry – who are all Team GB and Paralympics GB ambassadors – will welcome the iconic symbol as it is carried by three Torchbearers to Buckingham Palace on 26 July.

The torch will also travel to the Sandringham Estate in Norfolk on 4 July and the Balmoral Estate in Scotland on 11 June – but no members of the royal family are expected to attend either – before its journey concludes at the Olympic Stadium in Stratford for the start of the Games on 27 July, which the Queen and Prince Philip will open.

A St James’s Palace spokesman said Harry, William and Catherine’s involvement was part of the symbolism of the Games.

He said: “It marks the climax of the relay around the UK as it comes to London and Buckingham Palace.

“The queen will see the torch the next day at the opening ceremony and has asked three senior members of her family, who are already ambassadors, to welcome the torch to her residence.”

In the lead up to the sporting event, the royal family have been encouraging the public to support Britain’s sportsmen and women.

Last month, Harry took on Jamaican sprinter Usain Bolt and beat him in a race, albeit after the royal had run off before the starting piston had sounded, during his royal tour of the Caribbean.

And Catherine – who was known as Kate Middleton before tying the knot to William in April last year – recently joined in a Team GB hockey training session on visit to the Olympic Park.