Queen Elizabeth's traditional Christmas message reflected a year that saw incredible highs and lows for the monarch: she celebrated her golden anniversary on the throne, but was also saddened by the death of her mother and her sister.

When the new year turns, the celebration's marking her 50th year on the throne will come to a close. The celebrations in every part of the Commonwealth and the royal visits were mentioned. "As I look back over these past 12 months, I know this has been about as full a year as I can remember," she said, "but Christmas still remains a time for reflection."

For the Queen, 76, that reflection will undoubtedly include the passing of Princess Margaret at age 71 in February, and the Queen Mother, who was 101 just a month later.

The Queen in Canada

But Queen Elizabeth said her grief was made easier thanks to the outpouring of goodwill she felt.

"My own sadness was tempered by the generous tributes so many of you offered for the service they gave to this country and the wider Commonwealth," she said.

As in past years the Royal Family continued to stir up controversy and newspaper headlines.

There was the trial of the Princess of Wales' former butler Paul Burrell for stealing Diana's valuables, which came to an end only when the Queen remembered he'd told her he was holding them for safekeeping.

Princess Anne became the first member of the Royal Family in modern times to be charged and convicted of a criminal offence.

The Queen's 52-year-old daughter pleaded guilty to allowing her bull terrier to run loose and attack two children.

As her golden anniversary comes to a close, the Queen was thankful for the support she has received over the years. "The celebrations were joyous occasions. But they also seemed to evoke something more lasting and profound. A sense of belonging and pride in country, town or community. A sense of sharing common heritage."

The Queen ended her message with a call for people throughout the Commonwealth to remember the less advantaged. "We must never forget the plight of the disadvantaged and excluded. And we must respond to the needs of those who may in distress and despair," she said.

Earlier this week Buckingham Palace said the Queen has strained ligaments in her knee and is walking with a cane. The Palace refused to say exactly how the Queen had injured herself, or even which knee.

The Queen is spending Christmas with her family at Sandringham and is not expected to miss any of her official engagements.