Britain's late Queen Mother and Princess Margaret were praised for the way the ''significantly enriched'' people's lives at a memorial service yesterday (30.03.12).

The two royals were honoured at Windsor Castle's St. George's Chapel in a service organised by Queen Elizabeth to commemorate 10 years since their passing, with most senior members of the royal family in attendance, including the queen, her husband Prince Philip, sons Princes Andrew and Charles, Charles' wife Camilla, daughter Princess Anne and her husband Tim Laurence and several of the monarch's grandchildren.

Inside the chapel - where the remains of both women were interred - the Right Reverend David Conner, the Dean of Windsor, said: ''Each of us here this morning will cherish some special personal memories; memories that awaken once again sentiments of affection and respect.''

Margaret's son Viscount Linley - who was accompanied to the service by his wife Serena, sister Lady Sarah Chatto and their children - gave a reading of 'The Compassion of God and The Passion of Christ', which was written by Eric Abbott, the former Dean of Westminster, and also read at the princess' funeral.

Hymns sung included 'O God, Our Help In Ages Past', 'Angel Voices Ever Singing', and 'Now Thank We All Our God'.

The queen and her husband arrived for the 11am service by car, while the other royals - including Princesses Beatrice and Eugenie, Prince Harry, and Sophie, countess of Wessex - walked to the chapel.

Among the congregation at the service were Margaret's friends, playwright Sir Tom Stoppard and actress Felicity Kendal.

Also present was the Queen Mother's official biographer William Shawcross and horse trainer Nicky Henderson.

Prince William and his wife Duchess Catherine did not attend as they were on a skiing holiday with the duchess' family, while Anne's daughter, eventer Zara Phillips was training, and Prince Edward was in France on an official engagement.

The Queen Mother died in her sleep on March 30 2002 aged 101, a month after her daughter, who passed away aged 71 after a series of strokes.