Prince George, Princess Charlotte and Prince Louis have joined their mum the Duchess of Cambridge and Camilla in a carriage at Trooping the Colour for the first time.
The three youngsters sat side by side and waved to the crowds as four days of celebration for the Queen's Platinum Jubilee kicks off.
Cheers went up from thousands of spectators in The Mall as they caught sight of the kids with proud parent Kate, who looked elegant in a white McQueen outfit and Philip Treacy hat, and the Duchess of Cornwall.
George looked smart in a suit while Charlotte donned a cornflower blue dress and Louis wore a sailor's outfit mirroring what his dad Prince William wore at the same event in 1985.
At one point Charlotte appeared to push Louis’s hand down as his waving became a bit too enthusiastic.
However, Prince William did not join his wife and children in the carriage as he along with Prince Charles and Princess Anne rode on horseback in the parade from Buckingham Palace to Horse Guards Parade.
Other royals royal travelling to Trooping in the traditional carriage procession included the Earl and Countess of Wessex and their children Lady Louise Windsor and Viscount Severn.
The Duke and Duchess of Gloucester and Vice Admiral Sir Tim Laurence also arrived at Horse Guards Parade in a horse-drawn carriage.
After arriving at Horse Guards, the children were then seen bowing their heads as they received the salute.
They were also seen peering out of the central window at Horse Guards Parade as Louis pointed out towards the ceremony and later appeared on the balcony for the National Anthem.
Charles, who normally takes part in the Trooping ceremony on horseback in his role as Colonel, Welsh Guards, took the salute and inspected the troops of the Household Division on the Queen’s behalf.
After the ceremony, the Queen will acknowledge the salute of the returning Household Cavalry Mounted Regiment from Buckingham Palace’s balcony before she later joins working royals on the balcony to watch the traditional fly-past of aircraft.
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William, Kate, George, Charlotte and Louis will be on the balcony along with other working royals including Charles, Camilla, Anne, Prince Edward and Sophie Wessex.
However, there will be no place for Prince Harry and Meghan Markle, as appearances on the balcony will be limited to those who carry out royal duties on the Queen's behalf.
Later today, more than 3,000 beacons will be set ablaze across the UK and the Commonwealth in tribute to the Queen, who will lead the lighting of the principal Jubilee beacon in a special ceremony at Windsor Castle that evening.
William will be at Buckingham Palace for this event, where a beacon is also been lit.
Tomorrow, there will be no ceremonial journey to the service of thanksgiving at St Paul’s Cathedral for the Queen who has mobility problems, and the monarch, if she attends, will use a different entrance rather than scaling the steep steps.
And the Queen’s planned visit to Epsom for the Derby on Saturday is off, with members of the royal family attending on her behalf.
Saturday is also the first birthday of Harry and Meghan’s daughter Lilibet, and there is speculation the Queen will get to meet her namesake for the first time and possibly attend her christening.
In the evening, the BBC’s Party at the Palace – set on three stages in front of Buckingham Palace – will entertain a live crowd of 22,000 people and a television audience of millions.
The line-up includes Diana Ross, Queen + Adam Lambert, Alicia Keys, Nile Rodgers, Andrea Bocelli, Duran Duran, Bond composer Hans Zimmer, Ella Eyre, Craig David, Mabel, Elbow and George Ezra.
Charles and William are preparing to deliver public tributes at the concert to the Queen, who is due to be watching on television from Windsor.
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