The US President is joined by his wife Michelle for the intimate meeting at Windsor Castle - and the couple will later dine with the Queen's grandchildren, Princes William and Harry. Prince Philip is in the driving seat! The Queen greets President Obama and First Lady Michelle on the Windsor Castle golf course before the Duke, 94, drives them 400 yards to the door for lunch President and First Lady used helicopter Marine One to get from London to Windsor Castle for lunch with the Queen They were met on the lawn of the estate by the Queen and the Duke of Edinburgh, 94, who drove them to the castle Meeting comes a day after Elizabeth II celebrated her 90th birthday; the Obamas will later meet William and Harry Obama has come under criticism after he intervened in Brexit debate calling for the UK not to leave the EU See more of the latest news updates on President Barack Obama's London visit and lunch with the Queen He may be 94 and the husband to the Queen, but Prince Philip became Barack Obama's chauffeur today when the US President arrived at Windsor Castle for a meeting with the monarch. The Duke of Edinburgh drove Elizabeth II 400 yards from the castle to welcome the Obamas on their state visit to the UK then drove both couples back inside for a 45-minute lunch. The extraordinary moment came when Mr Obama, who is making his last trip to Britain as President, took time out of his schedule of high-level meetings to share a meal with the Queen. He came equipped with a gift - an album of photos showing the Queen meeting various Presidents - and paid tribute to the 'close friendship' enjoyed by the US and UK. Earlier Mr Obama had joked that he times his visit, just one day after the Queen turned 90, because he wanted to 'wish Her Majesty happy birthday in person'. As Marine One landed on the golf course of the 6,400-hectare estate next to the castle walls, Philip and the Queen waited in their navy Range Rover. Then, as the blades of the helicopter stopped, the Duke pulled the car forward and he and the Queen got out to welcome their guests. Mr Obama walked down the steps and shook hands with the Queen followed quickly by his wife Michelle as Philip waited his turn to welcome them both. The two couples appeared very relaxed and instantly started chatting away animatedly before getting into the vehicle. There seemed to be some confusion about who was going to sit where, with Philip appearing to gesture to Mrs Obama to go round to the other side when in fact she eventually got in at the back on the same side as him. Mr Obama started to go one way towards the Queen, then changed direction and got into the front seat next to Philip. While the Queen and Philip were waiting to greet the Obamas their car was turned around by a member of staff so Philip did not have to turn it himself or reverse it back up the drive. US media who had landed minutes before the President in the helicopter Marine Three were heard saying in disbelief, 'Is Obama driving?' - apparently forgetting that in the UK drivers sit on the opposite side. Mrs Obama was wearing a dress by Oscar de la Renta, one of her favourite designers, while the Queen covered her head in a stylish scarf which she paired with a light blue skirt suit. The US couple will later dine in London with the Queen's grandchildren, Princes William and Harry, as well as William's wife Kate. Mr Obama, who landed near London last night for the start of an official visit to Britain, has been staying at the home of the US ambassador. This morning he departed the residence near Regent's Park in his enormous motorcade, before taking his Marine One helicopter to Windsor, in Berkshire. Inside Windsor Castle, the four posed for a photograph in the castle's Oak Room, in the Queen's private apartment. The monarch uses the room to hold audiences with visiting dignitaries, and in past years has recorded a Christmas broadcast there. Lunch lasted just 45 minutes but was said to be ‘warm and friendly’, before the president flew off to meet Prime Minister David Cameron. The White House said that the president and his wife gave the Queen a 90th birthday present of a custom photo album chronicling her visits with U.S. Presidents and First Ladies. It added: ‘Her Majesty Queen Elizabeth II is the longest reigning monarch in British history. The collection of historical photos in the album highlights the enduring close ‎friendship between the United States and the United Kingdom.’ The Queen’s first visit to the United States was in 1951 as Her Royal Highness Princess Elizabeth, when she toured George Washington’s historic Mount Vernon Estate and met with President Harry S. Truman.