The Queen has pledged to continue to serve as monarch “to the best of my ability supported by my family” at the end of her Platinum Jubilee commemorations.

The monarch, 96, said she was  “humbled and deeply touched”  by the public’s reaction to her milestone 70-year anniversary, and that “my heart has been with you all” even though she missed parts of the celebrations.

“I remain committed to serving you to the best of my ability, supported by my family,” she said.

It was an acknowledgment of her fragility but a commitment to continue as monarch.

There was “no guidebook” on how to mark a Platinum reign, the Queen said, being the first sovereign in British history to do so.

But the Queen showed she had been moved by the millions who celebrated across the country in her honour.

The Queen said in her written message: “When it comes to how to mark 70 years as your Queen, there is no guidebook to follow.

“It really is a first.

“But I have been humbled and deeply touched that so many people have taken to the streets to celebrate my Platinum Jubilee.

“While I may not have attended every event in person, my heart has been with you all; and I remain committed to serving you to the best of my ability, supported by my family.

“I have been inspired by the kindness, joy and kinship that has been so evident in recent days, and I hope this renewed sense of togetherness will be felt for many years to come.

“I thank you most sincerely for your good wishes and for the part you have all played in these happy celebrations.”

Her message was signed Elizabeth R.