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Kate joins queen to start Diamond Jubilee tour

Queen Elizabeth II and Kate, Duchess of Cambridge arrive at St. Pancras station before boarding a train to visit the city of Leicester, March 8, 2012, in London. The royal visit to Leicester marks the first date of Queen Elizabeth II's Diamond Jubilee tour of the U.K. between March 8 and July 25, 2012.
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The Queen and Catherine: Together again
Queen Elizabeth II and Kate, Duchess of Cambridge arrive at St. Pancras station in London on March 8, 2012, before boarding a train to visit the city of Leicester.
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(CBS News) Kate, Duchess of Cambridge, joined Queen Elizabeth II and Prince Philip on Thursday to kick off the monarch's Diamond Jubilee tour.

The royal trio traveled by train to the English city - causing "quite a stir" when they arrived amongst the commuters at London's St. Pancras station, according to the Daily Mail.

Pictures: Queen begins Diamond Jubilee tour with Kate
Pictures: Queen Elizabeth II
Pictures: Kate, Duchess of Cambridge
Pictures: Prince Philip, Duke of Edinburgh

Kate, 30, chose a teal dress and jacket by L.K. Bennett and a black James Lock hat, the Mail reports. The queen, 85, wore a pink coat with black trim and a matching hat, both by Angela Kelly.

The monarch watched a performance by cultural dancers before stopping at De Montfort University, where she attended a student fashion show with Kate. Philip, 90, viewed a university project on improving life in the local community, according to the BBC.

During the fashion show, Kate was presented six shoe designs created by students, from which she chose her favorite. The winning design will reportedly be produced for the duchess to wear.

The royals also attended a service at Leicester Cathedral, where they were greeted by eager crowds waiting outside, and stopped at St. Martin's House where the queen met with faith leaders while Kate and Philip spoke with outreach workers, the BBC reports.

Leicester is the first stop on the queen's Diamond Jubilee tour, celebrating her 60 years on the throne. She and Philip will travel by road, rail, air and sea to various cities around the U.K. in the coming months - their next trip being to Manchester and Salford on March 23.

This is the second time the monarch and her granddaughter-in-law have stepped out together for a royal event this month. Last Thursday, they visited London's Fortnum & Mason department store with Camilla, Duchess of Cornwall.