The Queen unveiled a plaque commemorating 100 years of Canadian naval service in Halifax on the second day of her royal visit.
Afterwards, she did a walkabout, chatting briefly with veterans as well as cadets.
Earlier Tuesday, the Queen and Prince Philip were given three cheers as they disembarked from HMCS St. John's. "Hip, hip hooray," the sailors shouted.
The couple were piped aboard the ship and given a royal salute. The Queen, 84, inspected dozens of Canadian and foreign warships anchored in Halifax harbour, as part of the celebration marking the navy's 100th anniversary.
On board HMCS St. John's, she led the International Fleet Review, which includes ships from eight countries.
One of those ships included the USS Gettysburg, which cost more than $1 billion to build and has a crew of 400. Sailors on the ship saluted the Queen and Philip as they sailed past.
For the naval review, the Queen wore a white overcoat over a white dress with black bows and a black hat with a white bow, while Philip wore a Canadian naval uniform.
The Queen presented a plaque commemorating HMCS Sackville, a Second World War corvette that escorted convoys and attacked submarines and is now a museum.
She lated watched flypasses by Canada's famous Snowbirds, as well as an international aerial contingent.
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The Queen and Prince Philip arrived in Halifax on a rainy Monday afternoon. The driving rain let up as the official welcome got underway at the Garrison Grounds, at the foot of the Halifax Citadel.
The royal couple later took part in a Mi'kmaq cultural event at the Halifax Common.
Earlier Tuesday, the Queen attended a brief reception for MPs, Nova Scotia cabinet ministers and other guests, and then an official lunch at Canadian Forces Base Halifax.
She also unveiled a new $1 coin.
The royal couple will leave Halifax on Wednesday for Ottawa. Other Canadian stops include Winnipeg, Toronto and Waterloo, Ont.