The baton started its route along the Yorkshire Coast in Scarborough on Foreshore Road, before making its way to North Bay and progressing along the route through various villages and towns.
It concluded with a celebration event at Whitby Abbey, before departing via helicopter. Take a look at these photos of the baton's trip on the Yorkshire Coast.
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The baton relay makes its way along the Yorkshire Coast as part of its route across the country. Photo: Contributed
. Commonwealth Games Baton Relay
Antony Bakes takes part in The Queen's Baton Relay as it visits Scarborough South Bay. Photo: Matt Keeble
. Commonwealth Games Baton Relay
Tracey Romaine takes part in The Queen's Baton Relay as it visits Scarborough South Bay. Photo: Matt Keeble
. Commonwealth Games Baton Relay
Chris Green and Niall Guite take the baton along Marine Drive. Photo: Matt Keeble
. Commonwealth Games Baton Relay
Carl Hazel and Josh Beasley-Hall deliver the baton into North Bay. Photo: Matt Keeble
. Commonwealth Games Baton Relay
Claire Maxted Wiggins and David Wilson take part in The Queen's Baton Relay. Photo: Matt Keeble
. Commonwealth Games Baton Relay
Barry Newman takes part in The Queen's Baton Relay as it visits Scarborough. Photo: Matt Keeble
. Commonwealth Games Baton Relay
The crowds await the baton's arrival in Scarborough North Bay. Photo: Richard Ponter
. Commonwealth Games Baton Relay
The police escort awaits the baton's arrival. Photo: Richard Ponter
13. Commonwealth Games Baton Relay
Baton bearer Cody Hartley cheers at the finish line. Photo: Richard Ponter
14. Commonwealth Games Baton Relay
Bruce McClean takes part in The Queen's Baton Relay as it visits Robin Hood's Bay. Photo: Matt Keeble
15. Commonwealth Games Baton Relay
The baton is delivered to the RNLI at Robin Hood's Bay, before making its way to Whitby. Photo: Matt Keeble
16. Commonwealth Games Baton Relay
The RNLI deliver the baton to Whitby. Photo: Matt Keeble