WATCH: Historic moment as sailors guard Buckingham Palace

Able seaman Alex Stacey (centre) takes her position in a sentry box, as sailors from the Royal Navy perform the Changing of the Guard ceremony at Buckingham Palace, London, for the first time in its 357-year history. Picture: Dominic Lipinski/PA

Eighty-six sailors from 45 Royal Navy ships and establishments spent a month learning the intricate routines before being deemed ready to carry out the event for real at Buckingham Palace.

The ceremony, which has been taking place since the restoration of King Charles II in 1660, is traditionally performed by one of the five Foot Guards Regiments from the Army's Household Division.

The sailors trained in Portsmouth, with their new skills being polished by drill instructors from the 1st Battalion Coldstream Guards.

They marched through the famous gates yesterday morning to the theme tune of Game Of Thrones watched by thousands of tourists.

Warrant Officer 1st Class Eddie Wearing, the Royal Navy's state ceremonial training officer, said before the ceremony: "It's daunting, but I'm very excited.

"To be the conducting warrant officer for the first mount ever in the Royal Navy is a massive privilege and an honour to do. I'm really looking forward to it."

The roots of the Changing of the Guard ceremony can be traced all the way back to the reign of Henry VII when the first royal bodyguard was created.

Lieutenant Commander Steve Elliott was Captain of the Queen's Guard.

The Royal Navy's turn in the Changing of the Guard ceremony is one of many events staged to celebrate 2017 as "The Year of the Navy".

It marks the arrival of several new ships to the fleet, including the Portsmouth-based aircraft carrier HMS Queen Elizabeth.