The first-time parents were joined in the carriage by Catherine, Duchess of Cambridge, and Camilla, Duchess of Cornwall.
Prince William, Duke of Cambridge, and his father, Prince Charles, the Prince of Wales, rode on horseback. The queen arrived in a carriage by herself. Her husband, Prince Philip, Duke of Edinburgh, was not in attendance. He retired from royal service in 2017.
The annual ceremony in Horse Guards Parade in London’s Whitehall included an inspection of the troops by the queen. Members of the royal family later returned to Buckingham Palace, from where they watched a Royal Air Force flyby from the balcony.
The event came at the end of a week in which Donald Trump’s state visit to the United Kingdom inspired a plethora of viral moments for the royals ― including Camilla’s cheeky wink behind the president’s back.
Watch the BBC’s live feed of the ceremony here:
And check out more photographs from Trooping the Colour 2019 below: