The Duke of Edinburgh's link to the Navy and love of the sea will be a focus of the Windsor service.
Released on the eve of the duke's funeral, it shows the couple relaxing in the Scottish countryside.
The Duke of Edinburgh oversaw modifications to the car, which will carry his coffin at Saturday's funeral.
The star, who has died of cancer, was a "beautiful and mighty woman", her husband Damian Lewis said.
Health experts say the risks of blood clots from the pill are small after women raise concerns.