The Queen shook hands with the US President as she met him at Windsor Castle before greeted First Lady Melania.
Donald Trump was being led by the Queen in front of troops, just after their first meeting.
President Trump and the First Lady Melania did not bow or curtsy upon first greeting the Queen instead opting for a handshake.
The US President appeared to walk ahead leaving the Queen to step behind Mr Trump.
After being blocked out behind the US President, the Queen then went back to the right-hand side of the US President.
Before the Queen caught up with him, Donald Trump looked side to side to see where she was.
The US President then waited for the Queen before the pair continued on their journey.
It is considered rude to turn your back on Her Majesty when meeting the Queen.
However, it is unclear whether Mr Trump was told to walk ahead before the Queen caught up with him during his visit.
Royal correspondent, Richard Fitzwilliams, told Express.co.uk: “It was inappropriate behaviour”.
The US President will have afternoon tea with the Queen, along with Melania.
Former Royal Butler, Grant Harrold, was asked on Sky News how the Queen will end the conversation with Mr Trump after their meeting.
He said: “The conversation will run down and the Queen is a master at this. We have seen how good she is.
“Even, an example, an investiture, when people go to receive that. The way that is done obviously so you don’t overrun. The way she offers her hand, and you take the Queen’s hand and she gives you a very gently push.
“That’s how you know you know your time is up. That is not going to happen here but the Queen very good at running the conversation down and making sure that he is escorted off the property.”
Mr Trump headed to the UK on Thursday where he spent an evening at a black-tie dinner hosted by Prime Minister Theresa May.
After meeting the Prime Minister again on Friday, the US President then joined the Queen around 5pm.
Huge protests lined the streets of London on Friday as tens of thousands of people raged against the US President’s visit.
During his press conference with Mrs May on Friday, the US President praised his relationship with Britain.
He said: “I give our relationship, in terms of grade, the highest level of special. We start off with special. I would give our relationship with the UK.
“And now, especially after these two days with your Prime Minister, I would say the highest level of special. Now am I allowed to go higher than that? I am not sure. But, it is the highest level of special.
“They are very special people, it is a very special country. As I said, I have a relationship because my mother was born in Scotland, so very important to me.”
Express.co.uk contacted Buckingham Palace and they declined to comment.
