Queen Elizabeth II is leaving on a state visit to Germany that will include her first trip to a former concentration camp site.

The 89-year-old Elizabeth and her 94-year-old husband Philip are planning a strenuous schedule after their arrival Tuesday evening.

Elizabeth will meet German Chancellor Angela Merkel in Berlin on Wednesday after a boat trip along the River Spree. They will also meet with President Joachim Gauck. Thursday will be spent in the financial hub of Frankfurt.

On Friday, the royal couple plans to meet with residents of Berlin in Pariser Platz before traveling to Lower Saxony for the visit to the Bergen-Belsen concentration camp, where diarist Anne Frank and her sister Margot died just weeks before the British liberated it on April 15, 1945.