The three carriages arrived at Horse Guards Parade carrying members of the royal family as the Irish Guards played the national anthem on their approach.
The Duchess of Cornwall was dressed all in pale blue as she sat alongside the Duchess of Cambridge. William and Kate’s three young children sat opposite.
Roaring cheers rung down the Mall as they passed the thousands watching on.
The Duke and Duchess of Cambridge’s children have been spotted taking part in their first carriage procession as celebrations marking the Queen’s 70-year reign began.
Camilla, Kate and Prince George Jonathan Brady
The Duchess of Cornwall and the Duchess of Cambridge ride in a carriage as the Royal Procession leaves Buckingham Palace for the Trooping the Colour ceremony at Horse Guards Parade, central London Andrew Matthews
Cheers went up from thousands of spectators in The Mall as they caught sight of Prince George, Princess Charlotte and Prince Louis with proud parent Kate and the Duchess of Cornwall.
The Royal Procession leaves Buckingham Palace and heads down the Mall for the Trooping the Colour ceremony at Horse Guards Parade Paul Ellis
The traditional carriage procession left Buckingham Palace ahead of Trooping the Colour, also known as the Birthday Parade, that marked the start of four day of festivities honouring the Queen’s 70-year reign.
The Prince of Wales takes part in the Royal Procession leaves Buckingham Palace for the Trooping the Colour ceremony at Horse Guards Parade Andrew Matthews
The Prince of Wales leaves Buckingham Palace for the Trooping the Colour ceremony at Horse Guards Parade Andrew Matthews
The Prince of Wales was also seen taking part in the Royal Procession leaves Buckingham Palace for the Trooping the Colour ceremony.
Charles saluted as the Irish Guards marched across Horse Guards Parade with the Royal Colour.
Prince Louis sat between his older siblings Prince George and Princess Charlotte in a carriage, with the Duchess of Cambridge and the Duchess of Cornwall sat opposite.
The children, who are dressed in a light blue, navy and white colour scheme, waved to the crowds.
At one point Charlotte appeared to push Louis’s hand down.
Dressed in a cornflour blue dress, Charlotte squinted in the morning sunshine as the carriage left the palace.
The duke and duchess’ younger two children, Louis and Charlotte, peered out of the central window at Horse Guards Parade as Louis pointed out towards the ceremony.
Louis leaned out the window of Horse Guards and did a small salute at the Irish Guards as they continued to parade for the Trooping the Colour.
They arrived at Horse Guards Parade alongside their mother and step-grandmother in a carriage as part of the Trooping the Colour.