Queen and Martin McGuinness shake hands
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The Queen and Martin McGuinness shake hands

The Queen's two-day visit to Northern Ireland in 2012 was marked by an historic handshake.

Her Majesty and former IRA commander Martin McGuinness shook hands for the first time.

The meeting between the monarch and Northern Ireland's deputy first minister took place at a charity event in Belfast.

Go to next video: A look back at the life of Martin McGuinness