Sinn Fein first minister Martin McGuinness shakes hands with The Queen
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N Ireland visit: The Queen and Martin McGuinness shake hands

27 June 2012 Last updated at 12:01 BST

The Queen and former IRA commander Martin McGuinness have shaken hands for the first time.

It happened at the Lyric Theatre in Belfast, during an event organised by a charity, Co-Operation Ireland, which works to bring communities together.