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The Olympic torch relay will take in four Royal residences on its journey to the stadium for the opening of the London 2012 Games.

The Queen will view the Olympic flame at Windsor Castle on 10 July.

The torch will also pass through the Balmoral estate in Aberdeenshire and the Sandringham estate in Norfolk.

The Duke and Duchess of Cambridge and Prince Harry will see the torch at Buckingham Palace on 26 July, when it is carried through the grounds.

The three royals are ambassadors for Team GB and the Paralympics, and it is likely that they will meet the teams between now and the Games.

Prince Harry raced against Olympic 100m title holder Usain Bolt during a Diamond Jubilee tour to Jamaica in March.

The Duchess of Cambridge has also participated in a hockey training session with Team GB's hockey players at the Olympic Park in London.

Other members of the Royal Family will welcome the flame as it makes <link> <caption>its 8,000 mile (13,000km) journey around the UK</caption> <url href="http://www.london2012.com/olympic-torch-relay" platform="highweb"/> </link> , but details have not yet been released.

The Queen will open the Olympic Games at the stadium in east London on Friday, 27 July, accompanied by the Duke of Edinburgh.

The Queen officially opened the Montreal Olympics in 1976, and Prince Philip opened the 1956 Melbourne Games on her behalf.