The 92-year-old monarch seemed delighted as she received a gift from a young boy at the charity Coram, which has been open since 1739.
During her visit on Wednesday, the Queen will open The Queen Elizabeth II Centre, a national centre of excellence for children named in her honour.
It's not the first time Her Majesty has visited the centre – previously visiting the London centre in 1936 as a young princess.
In the first visit, the Queen was joined by her grandmother Queen Mary and her sister Princess Margaret.
She also later visited the centre – which has been helping vulnerable children since 1739 – in 1975 and 2009.
Wearing a bright teal outfit with matching hat, the Queen even met babies at the centre as she met with members of the public.
The charity's supporters, including Sir Trevor McDonald and David and Carrie Grant, will be introduced to the Queen.
The Queen Elizabeth II Centre has been launched as a celebration of the 350th anniversary of the birth of the charity's founder, Thomas Coram, who campaigned for 17 years before the Royal Charter was issued in 1739.
The charter established Coram as The Foundling Hospital, the first home in London to care for abandoned babies and vulnerable children.
The Queen will view the Royal Charter and meet children and families who have benefited from Coram's services including Mr Edward Newton, aged 104, the oldest surviving pupil from The Foundling Hospital.
Coram has impacted the lives of more than 1 million children.
It offers direct and practical help to support vulnerable children and their families.
The charity also helps children find secure homes, as well as access to legal advice.
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