The monarch and Northern Ireland’s deputy first minister met briefly when the Queen visited a theatre in Belfast to view an art exhibition.
A television cameraman and stills photographer were allowed to capture the historic moment, but no members of the public were allowed within a mile of the venue as police imposed a total exclusion zone amid fears of a terrorist attack.
Mr McGuinness, as he held the monarch's hands for a few moments, spoke to her in Irish and told her the words meant: "Goodbye and God speed."
