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The Queen was joined by former Spice Girl Geri Halliwell-Horner on a visit to a cancer charity she has supported for the past 18 years.
Queen Camilla went to Maggie's centre in Cheltenham on Wednesday to mark the organisation's 30th anniversary.
Halliwell-Horner, who had her own breast cancer scare as a teenager, is also a supporter of the charity.
In a speech, Queen Camilla praised the charity's founder, Maggie Keswick Jencks, who passed away from cancer in 1995, for her vision for better cancer care.
Maggie's offers care to people affected by cancer, including free psychological, emotional, and practical support.
The Queen has been its president since 2008.
"(Keswick Jencks) was convinced that people living with cancer crave a beautiful, comforting environment as they face the unknown," she said.
"A place were they needn't pretend to be fine, where they can receive expert support, sympathy and a a good cup of tea.
"A place where laughter can come as naturally as tears because sometimes that's what's wanted."

During the visit, Queen Camilla joined a reception of about 50 guests comprising staff, supporters and those who have benefited from the charity.
She described the centre as a "life-changing place" and joined Halliwell-Horner for a cup of tea with cancer patients who have been supported by Maggie's.
Caitlyn Warrington, 23, from near Cheltenham, said she was first diagnosed with a rare ovarian cancer at the age of 14, before relapsing aged 16 and 18.

Warrington paid tribute to the Queen for visiting Maggie's, saying: "I think raising awareness as well as having someone like that show support means a lot."
Halliwell-Horner, who had to have a lump removed from her breast aged 18, described living with the fear of cancer returning as "like a guillotine hanging over you".
Earlier on Wednesday, the Queen visited Gloucestershire Domestic Abuse Support Services to hear about its work supporting people across the county experiencing domestic abuse.
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