Queen Elizabeth II has acknowledged the "painful legacy" of the relationship between Britain and Ireland but said no one who looked to the future over the past centuries could have imagined the strength of the bonds that now exist between the two islands.
She was tonight attending a State dinner in her honour at Dublin Castle, where she made a major speech addressing the relationships between Ireland and Britain.
The Queen opened her address greeting her host, President Mary McAleese, and guests, in Irish.
"Together, we have much to celebrate. The ties between our people, the shared values and the economic, business and cultural links that make us so much more than just neighbours – that make us firm friends and equal partners."
The Queen said that speaking in Dublin Castle, it was impossible to ignore the weight of history, as it was yesterday when she and Mrs McAleese laid wreaths at the Garden of Remembrance.
“Indeed, so much of this visit reminds us of the complexity of our history; its many layers and traditions, but also the importance of forbearance and conciliation. Of being able to bow to the past, but not be bound by it.
"Of course the relationship has not always been straightforward. Nor has the record over the centuries been entirely benign. It is a sad and regrettable reality that through the history our islands have experienced more than their fair share of heartache, turbulence and loss."
"These events have touched us all – many of us personally – and are a painful legacy. We could never forget those who have died or been injured, and their families."
To all those who have suffered as a consequence of our troubled past, I extend my sincere thoughts and deep sympathy. With the benefit of historical hindsight we can all see things which we would wish had been done differently, or not at all."
"But it is also true that no one who looked to the future over the past centuries could have imagined the strength of the bonds that are now in place between the governments and people of our two nations, the spirit of partnership that we now enjoy and the lasting rapport between us."
She said Mrs McAleese had done a great deal to promote this understanding and reconciliation.
Addressing the Queen and other guests, President Mary McAleese said the visit was a culmination of the success of the peace process.
"It is an acknowledgment that while we cannot change the past, we have chosen to change the future," she said.
"The relationship between our two neighbouring nations is long, complex and has often been turbulent. Like the tides that surround each of us, we have shaped and altered each other. This evening we celebrate a new chapter in our relationship that may still be a work in progress, but happily, has also become a work of progress, of partnership and friendship."
Earlier, the Queen made a historic trip to Croke Park in Dublin on the second day of her State visit.
The British monarch’s visit to the GAA headquarters, the scene of a massacre by British troops of 14 citizens in November 1920 during the War of Independence, is seen as the most controversial leg of her four-day itinerary and as another watershed moment in Anglo-Irish relations.
The visit to the stadium, a site steeped in symbolism for nationalists, was specially requested by the President Mary McAleese during the preparations for the royal visit, as a recognition of the GAA’s special status in Irish society.
As the royal party entered the venue, 34 children dressed in the GAA jerseys of each county, including the colours of New York and London clubs, lined the forecourt.
The Queen and Prince Philip, accompanied by the President and her husband, were greeted and escorted around the stadium by GAA president Christy Cooney and the Minister for Arts, Heritage and the Gaeltacht, Jimmy Deenihan.
The Queen heard about the finer points of hurling and football in the stadium changing rooms where she met players from both codes. She was particularly interested in the shape of the hurley. She asked: “Is it like what they use in (when playing) shinty?” a hockey-like game associated with the Scottish highlands.
The Queen met several senior GAA officials, but a number of others stayed away in protest. Of the nine Ulster counties, just Down was represented.
Inside the stadium, on the Hogan Stand side, the royal pair watched a video on the big screen about the history of the GAA before being treated to a performance of traditional dancing and a selection of tunes by the Artane Band.
At the event, Mr Cooney said: “I was also very heartened by the utter and united determination of people and political leaders across the island, and across the whole community, to stand together against violence and hatred.”
Addressing the Queen, he added: “Your presence does honour to our association, to its special place in Irish life, and to its hundreds of thousands of members. Today will go down in the history of the GAA.”
After his speech, he presented the monarch with a specially-bound edition of The GAA: A People's History, and Prince Philip with a hurley and sliotar.
Gardaí were keen to ensure the Croke Park engagement passed off without incident amid heightened concerns protest groups may attempt to disrupt the Queen’s visit.
Hundreds of uniformed and plain clothes gardaí manned the route taken by the royal motorcade to the stadium. The immediate vicinity of the stadium was also heavily policed while onlookers were kept at a distance from the proceedings. There were no reports of any incidents.
A group of protesters in Dublin city centre this evening are being kept away from Dublin Castle, where the Queen has arrived for a state dinner.
Yesterday, gardaí clashed with hundreds of protesters in Dublin city centre during the Queen’s visit to the Garden of Remembrance and Trinity College. There were 20 arrests, with some rioters forcibly handcuffed and removed after they resisted.
Earlier today, the Queen laid a wreath at the War Memorial in Islandbridge in another moving ceremony dedicated to healing divisions between the two countries.
Following on from yesterday’s Garden of Remembrance event, the British monarch and President Mary McAleese laid wreaths at the Islandbridge memorial in memory of the 49,400 Irish soldiers who perished in the first World War.
The event, which was attended by large number of Irish Army veterans, was requested by Buckingham Palace during the preparations for the Queen's four-day visit, and is understood to be particularly important to the Queen.
The Queen laid a poppy wreath at the memorial’s 'war stone' while the President laid a laurel wreath before both leaders observed a minute’s silence. Similar to yesterday’s event, both national anthems were played at the ceremony, emphasising a new era of unity between the countries.
Following the wreath-laying, the Queen and her husband Prince Philip were shown artist Harry Clarke’s illuminated manuscripts containing the names of all the soldiers commemorated at the memorial. The royal couple were also shown the Ginchy Cross, carved out of oak by Irish soldiers who took part in the infamous Battle of the Somme.
Among the guests were Northern Ireland First Minster Peter Robinson, Catholic Archbishop of Ireland Sean Brady and the head of the Church of Ireland Alan Harper. Others invited included UDA commander Jackie McDonald.
Deputy First Minister Martin McGuinness declined an invitation to attend.
Speaking after the ceremony, Mr Robinson said the event "broke another taboo" in Anglo-Irish relations. However, Mr Robinson said the absence of any members of Sinn Féin represented a missed opportunity. “It would have been an excellent opportunity to show respect for traditions that have otherwise not been shown that respect in the past,” he said.
The royal entourage was this evening joined by British prime minister David Cameron ahead of the state banquet in Dublin Castle. The black-tie event, at the symbolic former seat of British rule in Ireland, will be attended by 172 guests from all walks of public life.
At the start of the dinner, Mrs McAleese is due to make a short address concluding with a toast to the Queen.
The Queen will then make what is being billed as a “major” speech on relations between the two countries, seen as the diplomatic highlight of her four-day visit.
Mr Robinson's wife Iris will be attending tonight’s dinner, her first public engagement since the controversy surrounding her private life erupted in early last year.
The second day of the Queen's itinerary began this morning with a trip to the Guinness Storehouse at St James's Gate where the 85-year-old monarch was given a panoramic "windows" tour of the city in the brewery's famous Gravity Bar, in the company of RTÉ broadcaster and Late Late Show presenter Ryan Tubridy. She was also given a lesson in pouring the perfect pint.
The Queen then met Taoiseach Enda Kenny at Government Buildings in the company of several other members of the Cabinet, including Tánaiste and Minister for Foreign Affairs Eamon Gilmore and Attorney General Máire Whelan.
Mr Kenny held a bi-lateral meeting with the Queen in his office after bringing the royal couple on a brief tour of the building. It was one of the last major building projects conducted under British rule in Ireland. The foundation stone for the building, which was originally used as a college of science, was laid by the Queen’s predecessor, King Edward VII in 1904.
Following her trip to Islandbridge, the Queen and Prince Philip had a private lunch at Farmleigh.