Senedd Live returns tomorrow for the plenary at 1.30pm.
- The official opening of the Fifth Assembly
Both Hen Wlad fy Nhadau and God Save the Queen were played during the royal party's visit.
One AM, Plaid Cymru's Bethan Jenkins, has stayed away from the ceremony. But the party's leader Leanne Wood, who boycotted the 2011 ceremony, is present today.
The musical performance is by the Royal Harpist Anne Denholm.
To mark the occasion, National Poet of Wales, Ifor ap Glyn, has penned a poem that will be presented to Her Majesty The Queen as a gift from the Assembly to mark her 90th birthday.
The poem is read by Maeve Tonkin-Wells, a Royal College of Music and Drama Student.
First Minister Carwyn Jones says the beginning of the Fifth Assembly is "a pivotal moment in Welsh devolution".
"You're responsibilities are great and the expectations are high", the Queen tells AMs.
The Queen praised the Welsh Assembly on its record since the advent of devolution during the royal opening of the fourth assembly on 7 June 2011.
In her address to the assembly, Queen Elizabeth II congratulated the assembly on the good work it had already done but said that a new legislative system marked a new era for the institution.
The Queen said that the Assembly had a "well-deserved reputation for diligence and competence."
Just a year after the Queen had officially opened the new Assembly building in Cardiff Bay, Her Majesty once again returned to the Senedd to open the third term of the Assembly on 5 June 2007.
This was a significant milestone as it opened a new era in the devolution of Wales.
The way in which Wales was governed had changed, thanks to the Government of Wales Act which provided the Assembly with new law-making powers.
For the first time, the extended powers meant laws could be formulated, shaped and made in Wales.
A month after the elections in 2003, the Queen opened the second term of the National Assembly on 5 June.
In the Queen's speech to the Assembly, she noted the "important ways in which the Assembly is breaking new ground."
However, she warned that "we must always remember any new constitutional organisation takes time to settle and deliver".
She added: "This Assembly is still a young institution but is already making its mark."
The Queen opened the first Assembly on 26 May 1999. Almost two years after the people of Wales voted by the smallest of margins in the 1997 referendum on Welsh devolution - 50.3% for, 49.7% against - The Queen said that the opening of the Welsh Assembly showed "a new and significant direction in the way Wales is governed".
Prince Charles, who delivered his speech in Welsh, added: "This is a historic day for Wales.
"To you the 60 members of this Assembly falls the honour of being pioneers."
Welcome to Senedd Live's coverage of the official opening of the Fifth Assembly.
Her Majesty the Queen will be joined by Assembly Members and representatives from across Wales for the official opening.