The Queen rounded off her Platinum Jubilee celebrations with an appearance on the Buckingham Palace balcony with her heirs, Prince Charles, Prince William and Prince Louis.
They were joined by Camilla, the Duchess of Cambridge, Prince George, Princess Charlotte and Prince Louis to wave to tens of thousands of well-wishers who have gathered on The Mall to watch the historical event.
There were huge cheers as The Firm stepped out onto the balcony for their short and sweet visit, which only lasted three minutes, with thousands of Union flags waving in the chilly London weather.
Dressed in a bright green coat with a matching hat and using her walking stick, the Queen watched on as people sang the National Anthem.
It's the Monarch's third balcony appearance of the four-day weekend and comes after she was forced to pull out of Friday's Service of Thanksgiving and the Epsom Derby yesterday.
Keep up to date with the latest news from the Queen's Platinum Jubilee on our live blog.
Charles, William and Charles looked smart in suits and ties, while Kate looked stunning in a bright pink frock. Camilla and Charlotte dressed in white while Louis wore a black coat.
Following the appearance she released an emotional message of thanks.
She said: "When it comes to how to mark seventy years as your Queen, there is no guidebook to follow. It really is a first. But I have been humbled and deeply touched that so many people have taken to the streets to celebrate my Platinum Jubilee.
"While I may not have attended every event in person, my heart has been with you all; and I remain committed to serving you to the best of my ability, supported by my family.
"I have been inspired by the kindness, joy and kinship that has been so evident in recent days, and I hope this renewed sense of togetherness will be felt for many years to come.
"I thank you most sincerely for your good wishes and for the part you have all played in these happy celebrations."
She signs it off "ELIZABETH R".
The royal finale comes at the end of a spectacular People's Pageant, which saw thousands of members of the public and celebrity national treasures parade around Buckingham Palace in fancy dress symbolising the seven decades of the Queen's reign.
Prince George, Princess Charlotte and Prince Louis were among the special guests who watched the event from the royal box.
They sat in the front row with parents the Duke and Duchess of Cambridge. After stealing the show at Trooping of the Colour on Thursday with his incredible facial expressions, Louis once again entertained crowds by mucking about with the other young royals. He could be seen playing with his cushion, covering his eyes and dancing in his seat.
He was also seen tucking into some chocolate and covering his mum Kate's mouth with his hand.
Princess Eugenie could be seen bouncing son one-year-old son August, dressed in a Union flag jumper, on her knee.
Before their appearance, Ed Sheeran took to the stage to perform his hit Perfect over a montage of photos and videos of the Queen through her life.
The pageant included seven open-top buses filled representing different decades of the Queen's reign.
Sir Cliff Richard, Katherine Jenkins and Bonnie Langford were on the 1950s bus alongside Gloria Hunniford and other celebrities.
Bear Grylls also appeared alongside his son in a Land Rover Defender.
Gary Lineker joked it is a “career highlight” to be on the same bus as Pudsey Bear for the event.
Shirley Ballas has said the atmosphere was “electric” on the 1970s bus, on which she joined Angela Rippon and Heather Small as well as Emmerdale star Patrick Mower and comedian Lee Mack.
Fashion royalty Kate Moss and Naomi Campbell led stars on the 1990s bus, which was designed in a denim style with badges. Courtney Love and Vanessa Mae were also on board.
She said: “The atmosphere is absolutely electric, people are really responding. Everyone in the bus is having an absolute ball.”
Cyclists including Sir Chris Hoy, Dame Laura Kenny and Sir Jason Kenny cycled up The Mall as part of the pageant, followed by a peloton of 300 cyclists riding vintage bikes from across the seven decades of the Queen’s reign.
Seven decades of James Bond cars and a fleet of Morris Minors, of all different colours, were driven up the Mall as well.
The show's director David Zolkwer said: "One of the most exciting things about the Platinum Jubilee Pageant was that there was never going to be a full dress rehearsal – the first and only time our entire cast came together was on the day – it was truly a once-in-a-lifetime event.
"Even after working closely with all these inspirational performers for so long to plan their Pageant beat by beat, the wonder of the live performance still absolutely took my breath away.
"The genuine commitment, exuberance and generosity of spirit of the thousands of people involved was a joy and a privilege to behold – it was truly the People’s Pageant.”"
Sunday's event rounds off a bumper four-day Jubilee celebration with countless royal appearances.
Things kicked off on Thursday with the Queen's annual birthday celebrations, Trooping the Colour. Members of the royal family took part in a carriage parade in front Buckingham Palace before the senior group went up to the balcony to wave to well-wishers.
All eyes were on little Louis, who chatted to his great-granny the Queen before covering his ears and screaming when the Red Arrows flypast went over.
On Friday, Meghan Markle and Prince Harry made their first royal appearance since quitting their senior roles in 2020. They joined the Cambridges, Wessexes, Charles and Camilla and other relatives for the a Service of Thanksgiving at St Paul's Cathedral.
While they attended Trooping of the Colour on Thursday, they weren't in the public part of the event and had to watch from a balcony in the Horses Guard. However photos showed Meghan joking around with the Tindall and Phillips children, shushing them playfully.
What did you think of the Queen's Jubilee celebrations? Have your say in the comment section below.
