• Queen Elizabeth II received President Joe Biden and first lady Jill Biden for tea at Windsor Castle Sunday
  • The president said the Queen was "very gracious" and "reminded" him of his mother
  • Biden also said that he invited the Queen to visit the White House

Queen Elizabeth II hosted President Joe Biden and first lady Jill Biden Sunday at her home in Windsor Castle.

Following the conclusion of the G-7 Summit, which was held in Cornwall, England, the Queen received the Bidens for tea at her residence about 30 miles west of London.

"[Queen Elizabeth] was very gracious," the president was quoted by People as telling reporters Sunday at Heathrow Airport as he boarded Air Force One following their meeting. "She reminded me of my mother."

Biden also confirmed that he invited her to visit the White House.

Biden is the 13th occupant of the White House to meet with the Queen during her reign and the fifth president she's hosted at Windsor. Their meeting also marked one of the monarch's first public engagements since the death of her husband of 73 years, Prince Philip, on April 9 at age 99.

The president and first lady arrived at the Queen's residence before 5 p.m. local time Sunday via helicopter, which landed on the castle lawn, USA Today reported. The Bidens then rode a black Land Rover, Prince Philip's favorite car, to an outdoor dais where they joined Queen Elizabeth for photos.

For the meeting, the Queen wore a pink floral dress with a matching hat and white gloves. The first lady opted for a powder-blue skirt suit, while the president donned a navy suit with a light blue tie. He also sported his signature aviator sunglasses.

They were greeted with an official Guard of Honor military parade, which gave a royal salute and played the U.S. national anthem. After standing together for "The Star-Spangled Banner," the Queen and first lady stayed on the dais as the president inspected the red-uniformed and bearskin-capped Guard of Honor assembled on the castle grounds. The U.K.'s national anthem, "God Save the Queen," was played minutes before the Bidens' arrival.

As they left the dais to take tea with the 95-year-old royal inside the castle, the president offered an elbow to the Queen. She did not take his arm but instead stepped down while holding the handrail, USA Today noted.

The Bidens spent nearly an hour with the Queen before heading back to the helicopter for their return trip to London.

Prior to the meeting, the Bidens met Queen Elizabeth Friday at a G7 leaders' reception that was hosted by British Prime Minister Boris Johnson at The Eden Project in Cornwall. They also met other senior members of the royal family, Prince Charles, Camila, Duchess of Cornwall, Prince William and Kate Middleton.

The first lady and the Duchess of Cambridge also met earlier that day for a surprise joint visit to a primary school in Cornwall. During the joint engagement, they held a roundtable discussion with experts from both the U.S. and the U.K. on the importance of early childhood education.

Queen Elizabeth II and Joe Biden WINDSOR, ENGLAND - JUNE 13: Queen Elizabeth II and US President Joe Biden at Windsor Castle on June 13, 2021 in Windsor, England. Queen Elizabeth II hosts US President, Joe Biden and First Lady Dr Jill Biden at Windsor Castle. The President arrived from Cornwall where he attended the G7 Leader's Summit and will travel on to Brussels for a meeting of NATO Allies and later in the week he will meet President of Russia, Vladimir Putin. Photo: Samir Hussein - Pool/WireImage