The King and Queen were also joined by the Duke and Duchess of Edinburgh, Princess Anne and Sir Timothy Laurence, as well as the Duke and Duchess of Gloucester and the Duke of Kent.

Earlier during the procession, Prince William, Princess Anne and Prince Edward rode horseback.

Catherine was pictured riding alongside her children, with the future Queen dressed in a beautiful shade pale blue.

Duchess Sophie joined Sir Timothy in a carriage, with both his wife and her husband on horseback.

As well as the King and Queen's carriage, the Duke and Duchess of Gloucester rode together in the fourth one.

All three of the royal children have stepped out numerous times for the historic event, which takes place every June and marks the monarch's official birthday, on numerous occasions.

George was a few weeks shy of his second birthday when he made his first appearance at Trooping the Colour in 2015, whilst his sister and brother was just over the age of one in 2016 and 2019.

This marks their first public appearance since joining the King and Queen at the Easter Sunday service at the start of April.