The royals' Clarence House announced Monday what events Prince Charles, his wife Camilla, Prince William and his wife Kate and Prince Harry will attend.
All five will be at Friday's opening ceremony, where 86-year-old Queen Elizabeth II will officially open the Olympics.
The queen on Monday welcomed members of the International Olympic Ceremony at Buckingham Palace and was presented with a set of medals by the organization's president, Jacques Rogge.
"In the coming days, over 10,000 athletes from more than 200 nations will be undertaking their final preparations following years of dedication, hard work and personal sacrifice," the queen said at the reception. "We send our warm wishes to them all for a rewarding and enjoyable games."
Her grandsons William and Harry, along with Kate, are official ambassadors for the British Olympic team. They will all attend equestrian events — where the princes' cousin and the queen's granddaughter Zara Phillips is a competitor — and will hand out medals to the winners on Tuesday.
Kate, now known as the Duchess of Cambridge, will be watching gymnastics and synchronized swimming, William will see a Team GB (Great Britain) soccer match and Harry will be dropping by beach volleyball.