The Prince of Wales was joined on horseback by Prince William and Princess Anne, and Kate Middleton, Camilla, Duchess of Cornwall and the Duke and Duchess of Cambridge’s children Prince George, Princess Charlotte and Prince Louis rode in a horse-drawn carriage.

The event also featured a gun salute. And after the parade the queen was joined on the balcony by working members of the royal family to watch the Royal Air Force Flypast. In addition to the aforementioned royals, this included her son Prince Edward, his wife Sophie, Countess of Wessex, their children Lady Louise Windsor and James, Viscount Severn, Princess Anne’s husband Admiral Sir Timothy Laurence, the Duke and Duchess of Gloucester, the Duke of Kent and Princess Alexandra. Other royal family members—including Prince Harry and Meghan Markle—watched nearby.  

In addition, more than 3,000 jubilee beacons will be lit across the U.K.

To see photos from the big event, scroll on.