The big shake-hands moment took place..twice as I understand it, both in private and in front of the cameras and with genuine smiles.
There are of course extreme views on either side. There will be those who will think Martin McGuinness has betrayed the republican cause, in fact if he had done such a thing some years ago his life would have been in danger. But it is a sign of improving times that this could be done, but it will still make him unpopular with some. The Queen shook Mr Robinsons hand and then shook Martin McGuinnesses hand with the same broad smile.