Prince George, Princess Charlotte and Prince Louis looked delighted as they travel down The Mall in a carriage with their mother the Princess of Wales.
Princess Kate joined her children in a carriage at The King's Birthday Parade today in her first public appearance of 2024.
King Charles and Queen Camilla also travelled by carriage this year amid the monarch's cancer battle.
The princess announced on Friday that she would make her return to public life at Trooping the Colour.
Kate said in a statement ahead of her appearance today: "I’m looking forward to attending The King’s Birthday Parade this weekend with my family and hope to join a few public engagements over the summer, but equally knowing I am not out of the woods yet."
The Princess of Wales released a video message in March announcing that she had undergone preventative chemotherapy after cancer was found in tests following her significant abdominal surgery at the start of 2024.
Kate's appearance today is her first official public outing since joining the Royal Family at the walk to Sandringham Church on Christmas Day.
However, the royal's appearance at Trooping the Colour does not signal a return to undertaking public duties.
The Princess of Wales is hoping "to join a few public engagements over the summer" but she will not attend Garter Day or Royal Ascot next week.
The Prince of Wales rode in the procession and did not join Kate, George, Charlotte and Louis in the carriage.
The full working Royal Family will unite at Buckingham Palace for the flypast later this afternoon in what is considered one of the highlights of the royal calendar.
More to follow...