Royal fans gathered from early this morning to see the Duke and Duchess of Sussex, fresh from their honeymoon, joining other members of the royal family for the traditional summer spectacle.
The Duchess of Sussex – at her first Trooping the Colour – arrived on House Guards Parade with Harry in a carriage, along with the Queen's cousin the Duke of Kent.
The Duchess of Cornwall and Duchess of Cambridge were in another carriage while a third carried Princesses Beatrice and Eugenie, the Countess of Wessex and her daughter Lady Louise.
Meghan wore a dress by Carolina Herrera and a hat by Philip Treacy.
Kate wore a dress by Alexander McQueen and a hat by Juliette Botterill, while Camilla was in a pale blue silk dress and coat by Bruce Oldfield and a hat by Philip Treacy.
The Queen, who recently had a successful eye operation to remove a cataract, wore a sky blue coat and dress by Stuart Parvin, and a hat by Angela Kelly.
She made her entrance onto House Guards in an Ascot Landau after making her journey from Buckingham Palace.
Her procession was accompanied by a Sovereign's Escort of the Household Cavalry, made up of Life Guards and Blues and Royals, in their silver and gold breastplates and plumed helmets.
The 7,500 guests seated in stands lining the parade ground stood as a mark of respect as the monarch arrived and began inspecting the massed ranks of the troops.
The Duke of Edinburgh, who celebrates his 97th birthday on Sunday, has retired from official public duties and did not attend.
But the Queen was accompanied by the royal colonels, all on horseback: Prince of Wales, Colonel of the Welsh Guards, the Princess Royal, Colonel of the Blues and Royals, and the Duke of Cambridge, Colonel of the Irish Guards.
Also riding in the ceremony for the first time was the Duke of York in his new role as Colonel of the Grenadier Guards.
The hot June weather led to one of the riders fainting on his way to the palace.
The soldier was taken away by an ambulance for further treatment having fallen off his horse.
Trooping the Colour originated from traditional preparations for battle. Colours, or flags, were carried, or "trooped", down the rank so that they could be seen and recognised by the soldiers.
In the 18th century, guards from the royal palaces assembled daily on Horse Guards to "troop the colours" and in 1748 it was announced that the parade would also mark the Sovereign's official birthday.
This year the ceremony saw the Colour of the 1st Battalion the Coldstream Guards being trooped.
Guardsman Charanpreet Singh Lall, 22, a Sikh from Leicester, became the first to wear a turban during the parade.
His turban features a ceremonial cap star to match the bearskin hats worn by the other soldiers.
"I'm quite proud and I know that a lot of other people are proud of me as well," he said.
"For myself, being the first turban-wearing Sikh to troop the colour and to be part of the escort it is a really high honour for myself, and hopefully for everyone else as well.
"My mum was crying on the day I passed out so I wonder what is going to happen to her when she sees me in this."
Trooping the Colour has commemorated the birthday of the sovereign for more than 250 years and also functions as a display of army drills, music and horsemanship.
Among the guests was Defence Secretary Gavin Williamson, the Prime Minister Theresa May normally attends but is at a G7 meeting of world leaders in Canada.
The massed bands of the Household Division and the Mounted Band of the Household Calvary provided the musical backing for the ceremony.
While also taking part was the King's Troop Royal Horse Artillery, who will fire a 41-gun salute in Green Park to mark the Queen's official birthday.
The colour was first trooped through the ranks of soldiers before the Guardsmen marched past the Queen, first in slow then in quick time.
The Queen's actual birthday was on April 21 when she turned 92.
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