Queen Elizabeth and Aussie cyclist Anna Meares with the Commonwealth Games torch in London. Picture: David Dyson

Monday’s launch, watched by thousands of people gathered in front of the palace under blue skies, starts the countdown to the Games opening ceremony on April 4 next year.

Cheered on by the crowd, Fearnley carried the baton into the palace forecourt for the ceremony after the inspirational wheelchair racer was escorted up The Mall by the Band of the Scots Guards.

“That was hands-down the most humbling, the most unique experience of my life,” the Paralympic gold medallist said.

“That was not reality for a while. It was an amazing experience. I love the idea that there’s one baton, one baton that goes from hand to hand across our Commonwealth that starts here with the unique message from Her Majesty and will end at the Gold Coast for our Games.”

Australian cyclist Anna Meares with the Commonwealth Games torch, as the Queen, Prince Edward and Prince Phillip look on. Picture: Tim P. Whitby/Getty ImagesSource:Getty Images

Kurt Fearnley, Anna Meares and Victoria Pendleton at the launch of The Queen's Baton Relay. Picture: Toby Melville — WPA Pool/Getty ImagesSource:Getty Images

Meares, the world’s most decorated female track cyclist, was the first to take the baton after the Queen placed her traditional message inside, running it for a short distance alongside Buckingham Palace before handing over to her great rival, English cyclist Victoria Pendleton.

The pair circled the Queen Victoria Monument before passing the baton to Australian singer Cody Simpson, who earlier in the ceremony had performed I Still Call Australia Home.

He hopped into a brightly-coloured Kombi van with a surfboard on top to take the baton to Westminster Abbey for a Commonwealth Day Service.

Aussie singer Cody Simpson performs at Buckingham Palace. Picture: Tim P. Whitby/Getty ImagesSource:Getty Images

Cody Simpson gets in to a VW Campervan with the baton with Victoria Pendleton and Anna Meares waving him off. Picture: Tim P. Whitby/Getty ImagesSource:Getty Images

The baton will then embark on a 388-day journey around all nations of the Commonwealth in the lead-up to the Games opening ceremony when the Queen’s message in the baton will be read out.

Meares told the crowd the Games would be the biggest sporting event in Australia this decade and she felt proud to have the velodrome for the event named after her.

Pendleton said she and Meares had been proud to represent their countries at the highest level and had a lot in common.

“I owe Anna so much for what I’ve achieved in my career and I think between us we really pushed the sport forward. I think a great rivalry but also a great friendship,” she said.

During the ceremony Ted Williams, an elder of the Gold Coast’s Yugambeh people, delivered an invitation to all first nations people of the Commonwealth to unite to celebrate the Games.

Anna Meares carries the baton at the launch of The Queen's Baton Relay for the XXI Commonwealth Games at Buckingham Palace. Picture: Tim P. Whitby/Getty ImagesSource:Getty Images

Victoria Pendleton and Anna Meares carry the baton at the launch of The Queen's Baton Relay for the XXI Commonwealth Games. Picture: Tim P. Whitby/Getty ImagesSource:Getty Images

Australian Paralympian Kurt Fernley takes the Commonwealth Games baton to the Queen at Buckingham Palace. Picture: David DysonSource:Supplied

Hundreds of journalists and photographers gathered outside the palace, with officials eager to capitalise on the international media interest in the Gold Coast and its attractions ahead of the Games, which start on April 4, 2018.

Trade Minister and Gold Coast MP Steve Ciobo is in London to kickstart the advertising campaign off the back of the baton relay launch. He will send the first of 50 iconic London black cabs on to the roads wrapped in Australian images.

Mr Ciobo said the aim was to inspire more Brits to plan a holiday Down Under in 2018.

“We want to create a sense of Australia as Londoners go about their daily commute,’’ he said.

“We want to make sure they know there’s a sunny sky, blue beach and golden sand waiting for them in Australia. We want them to know they can swap the cold for the Gold.”

Queensland Premier Annastacia Palaszczuk and former premier Peter Beattie, who is chairman of the Gold Coast Games, were also due to be presented to the Queen and her husband, Prince Philip, at Buckingham Palace.

The baton relay will be launched on Commonwealth Day, and the baton is due to make an appearance later today at Westminster Abbey, where the senior royals will be joined by Prince Charles and Camilla, the Duchess of Wales, and Princes Andrew, Edward and Harry at an interfaith service.

Victoria Pendleton, Cody Simpson and Anna Meares carry the baton. Picture: Tim P. Whitby/Getty ImagesSource:Getty Images

Her Majesty also used the occasion to send a message to the 2.5 billion citizens of the Commonwealth, of which she is head, urging them to work together for peace.

“The cornerstones on which peace is founded are, quite simply, respect and understanding for one another,’’ she wrote.

“Working together, we build peace by defending the dignity of every individual and community.’’

Australian artist Lucy Mason performs at the launch of the Queen's baton relay. Picture: AFP/Pool/Toby MelvilleSource:AFP

The baton will arrive on Australian shores on Christmas Day this year and spend the final 100 days of its journey making its way the length and breadth of the country.

It will then arrive at the Gold Coast opening ceremony on April 4, where the Queen’s message, urging the athletes of the Commonwealth to come together for a friendly and peaceful sporting competition, will be read.