The 96-year-old monarch was seen watching troops returning from the official Trooping of the Colour ceremony.

Earlier, members of the Royal Family gathered in central London to attend the parade marking the Queen's official birthday.

Trooping the Colour kicked off four days of celebrations for the Jubilee.

First to appear were Catherine, Duchess of Cambridge and Camilla, Duchess of Cornwall in a horse-drawn carriage - together with Princess Charlotte, Prince George and Prince Louis.

Prince George, Prince Louis and Princess Charlotte are the children of Prince William and Catherine, the Duke and Duchess of Cambridge.

They were followed by Prince Edward and Sophie, Earl and Countess of Wessex, and their children Viscount Severn and Lady Louise Windsor.

Prince Richard, the Duke of Gloucester and a cousin of the Queen, and his wife Birgitte, Duchess of Gloucester rode to the ceremony in another carriage, alongside Princess Anne's husband, Vice Admiral Sir Tim Laurence.

Then Prince Charles, Prince William, and Princess Anne, the Princess Royal, appeared from Buckingham Palace on horseback for their central parts in Trooping the Colour. Prince Charles took the salute from guardsmen and officers at the parade.

Meghan, the Duchess of Sussex, and Prince Harry joined other family who watched the ceremony from a balcony at Horse Guards Parade.

After the ceremony, the family returned to Buckingham Palace. Then the Queen appeared on the balcony, with her cousin Prince Edward, the Duke of Kent.

She was then joined by senior royals for a second appearance on the balcony to watch an RAF flypast.

Only "working royals" and some of their children were invited to join the Queen. Seen here, from left to right: the Duke of Gloucester, and his wife Birgitte, Princess Alexandra, the Duke of Kent, Vice Admiral Tim Lawrence, Princess Anne, Camilla the Duchess of Cornwall, Prince Charles, the Queen, Catherine the Duchess of Cambridge and her children Prince Louis, Princess Charlotte and Prince George, Prince William, the Countess of Wessex, her son Viscount Severn, her daughter Lady Louise Windsor, and the Earl of Wessex.

As is often the case, the children on the balcony stole the show, in particular Prince Louis.