After arriving at Buckingham Palace by car, Kate and the children, Prince George, 11, Princess Charlotte and Prince Louis, 7, traveled in a traditional horse-drawn carriage down The Mall. Charlotte sat beside her mother, while her brothers faced backward across from them.

Prince George, Princess Charlotte and Prince Louis made an appearance on the Buckingham Palace balcony for Trooping the Colour. See the best photos of the royal siblings.

The parade travels from Buckingham Palace down The Mall to Horse Guards Parade. Then, following tradition, Charles, Queen Camilla, 77, and other work members of the royal family stoof on the Buckingham Palace balcony to watch a flypast. As the family headed back inside Buckingham Palace, Prince Louis turned and gave the crowd one final wave.