At a banquet to mark her three-day state visit to France, the monarch described how the day's commemorations had left Philip and herself "filled with emotions".
She added: "With sorrow and regret, remembering the loss of so many fine young soldiers, sailors and airmen; with pride, at the sheer courage of the men who stormed those beaches, embodied in the veterans among us; and with thankfulness, knowing that today our nations are free and sovereign because allied forces liberated this continent from occupation and tyranny.
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