The Duke of Cambridge is spending the day in Scotland with his grandmother the Queen

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Prince William is supporting his grandmother Queen Elizabeth on a day of outings in Scotland.

The prince joined the Queen, 95, who is undertaking a week of royal duties in Scotland for the first time since the death of Prince Philip, her husband of 73 years, in April.

William, 39, and the Queen started Monday at an iconic soda maker's factory in Cumbernauld, near Glasgow. A. G. Barr create the famous Scottish soda Irn Bru, which is said to contain 32 different ingredients in its secret recipe.

Queen Elizabeth II receives flowers as she meets employees during a visit to AG Barr's factory in Cumbernauld
Queen Elizabeth on Monday
| Credit: ANDREW MILLIGAN/POOL/AFP via Getty Images
Prince William, Duke of Cambridge (R) reacts while sampling Irn-Bru
Credit: ANDREW MILLIGAN/POOL/AFP via Getty Images

The Queen officially opened the new facility, and she and William — who is titled the Earl of Strathearn in Scotland — were given a rundown on the history of the company and met employees to learn about the 140-year-old company's place in local community life. Before jointly signing the visitor's book, they were shown some of the company's other brands, including Rubicon fruit and juice drinks and Strathmore Still Spring Water.

After the visit with A. G. Barr, the Queen and the Duke of Cambridge traveled on to the official royal residence of Holyroodhouse in Edinburgh for the Ceremony of the Keys, the traditional welcome ceremony at the royal residence where she was officially welcomed to the Scottish capital by the Lord Provost, who offered Her Majesty the keys of the city.

The Queen And The Duke Of Cambridge Attend The Ceremony of the Keys
Credit: Samir Hussein - Pool/WireImage

Afterward, the royals met local volunteers and first responders to thank them for their efforts during the pandemic.

During her week in Scotland, spanning from Edinburgh to Glasgow and Stirling this Monday through Thursday, the Queen is "celebrating Scottish community, innovation and history," according to the palace.

The Queen And The Duke Of Cambridge Attend The Ceremony of the Keys
Credit: Samir Hussein - Pool/WireImage

While William is with her on Monday, her daughter, Princess Anne, will be by the Queen's side on Wednesday and Thursday, the palace said.

Usually she hosts a garden party during Holyrood Week or Royal Week, but that has been ruled out because of the coronavirus pandemic. In line with government guidelines, the Queen did not travel to Scotland for Royal Week in 2020 or host large-scale events, such as investitures, normally hosted at the Palace.

The Queen And The Duke Of Cambridge Attend The Ceremony of the Keys
Credit: Chris Jackson - WPA Pool/Getty Images

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As preparations for the visit continued over the weekend, the palace issued several social media posts emphasizing Elizabeth's strong bonds with Scotland.

But through her range of in-person visits over four days, the monarch will "recognize the good work and contribution of individuals and communities."

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When Philip died at age 99 on April 9, it was said by insiders that as she gradually headed out on visits, she would often do so with support from Princes Charles and William, as well as their spouses, Camilla, Duchess of Cornwall, and Princess Kate.

A former senior aide at the palace told PEOPLE at the time, "Her family will step up and be by her side, but she will carry on. She understands that she has a job to do, and [Philip] would have wanted her to crack on. She did do so when he retired from public life."

But that doesn't mean that the Queen is ceding any control to the next generations of royals, historian Robert Lacey told PEOPLE recently: "There is no consideration given to her slowing down. She is still clearly in charge."