The Royal Family took to the balcony of Buckingham Palace to celebrate the annual Trooping the Colour amid clearing skies and cheering crowds.
The King and Queen were followed out by the Prince and Princess of Wales along with their three children, who waved, smiled and – in Prince Louis’s case – danced for well-wishers.
The family outing marked the Princess’s first public appearance since she announced her cancer diagnosis earlier this year.
The Princess travelled to the cerermony in the Royal Glass Coach with Prince George, 10, Princess Charlotte, nine and Prince Louis, six.
The King also travelled to the celebration in a carriage instead of on horseback due to his own illness, where he then inspected hundreds of guard soldiers alongside the Queen.
After the ceremony, the procession headed back down The Mall to prepare for the RAF flypast and the Royal Family stepped out onto the Buckingham Palace balcony.
The King and Queen were followed by the Prince and Princess of Wales and their children and the Princess Royal and Duke of Edinburgh.
The senior royals chatted among themselves and shared a number of touching moments, including Prince William pulling at the ears of his youngest son.
Skies cleared just in time for the Red Arrows team to put on their overhead show, after which a 41-gun salute was fired out in neighbouring Green Park.
The Princess said in a statement on Friday she was making “good progress” with her treatment but candidly added she has “good days and bad days” and, although she has been working from home, said “I am not out of the woods yet”.
The Princess said she had been “blown away” by the “kind messages” that had made a “world of difference to William and me and has helped us both through some of the harder times”.
Trooping the Colour featured more than 1,250 soldiers, including hundreds of guardsmen lined up in two rows who were inspected by the King and Queen, followed by mounted royal Colonels.
Read how to day unfolded from start to finish in our coverage below.