The Duke of Edinburgh's link to the Navy and love of the sea will be a focus at the Windsor service.
Released on the eve of the duke's funeral, it shows the couple relaxing in the Scottish Highlands.
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.
The health secretary is accused of "cronyism" but the government says he acted "entirely properly".