Queen Elizabeth II (1926-2022) was a direct descendant of Robert the Bruce.
Robert the Bruce was father to Marjorie Bruce, the mother of Robert II of Scotland. Robert II was the father of James I of Scotland. From here there is a succession of Jameses to James V who was Mary, Queen of Scots’ father. Mary Queen of Scots’ son was James VI. His daughter Princess Elizabeth had a daughter, Princess Sophia, who was the mother of George I, father of George II. George II had a son, Frederick, who was father to George III and grandfather to George IV. George IV’s son, Edward Duke of Kent was father to Victoria, grandfather to Edward VII, great-grandfather to George V, and great-great-grandfather to George VI, who was Elizabeth II’s father.