Prince George, Prince Louis, and Princess Charlotte sat in the carriage procession during the parade and smiled and waved to fans.
The siblings matched in blue. George wore a navy suit and tie, Charlotte wore a vibrant cyan sundress, and Louis wore the white-and-blue sailor suit worn by his father to the same event in 1985, when he was a child.
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Kate, who sat in the carriage with her kids and Duchess Camilla, wore an ivory Alexander McQueen coat dress, which she paired with a navy blue hat with white trim by Philip Treacy. She accessorized with sapphire-and-diamond earrings and a necklace, which matched her 12-carat oval Ceylon sapphire engagement ring.
Camilla wore a striped light blue dress with a matching minty blue hat.
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William did not ride in the carriage, but rather stood as part of the Irish Guards.
Trooping the Colour, also known as The Queen’s Birthday Parade, is a military ceremony performed by regiments of the British Army that has taken place since the mid-17th century.
The parade is the first celebration to mark Queen Elizabeth‘s Platinum Jubilee—honouring her 70 years on the throne. The monarch first ascended to the throne on February 6, 1952.
The celebrations for the queen will continue through Sunday and will include the National Service of Thanksgiving, the Derby at Epsom Downs, and the Platinum Jubilee Pageant.
This article originally appeared on Harper’s BAZAAR US.