Smiles and laughter on a joyous day: The Queen beams and Prince Harry has Prince William and Kate chuckling as thousands join the Royal family in celebrating the Trooping the Colour ceremony

• Kate travelled to the pageant in a carriage with the Duchess of Cornwall and Prince Harry
• Trio smiled and waved at the crowds lining the route as the carriage drove to the televised military spectacle
• Royal family gathered on balcony on Buckingham Palace to watch RAF fly
• By Anna Edwards

The Duchess of Cambridge made her last public appearance before the birth of her first child when she joined thousands of well-wishers to celebrate the Queen's official birthday at the Trooping the Colour parade today.
Wearing a pale pink Alexander McQueen coat and matching hat, Kate, who is eight months pregnant, travelled to the pageant in a carriage with the Duchess of Cornwall and Prince Harry.
She smiled and waved at the crowds lining the route as the carriage drove to the televised military spectacle which is held every year at Horse Guards Parade in London's Whitehall.

The queen was surrounded by members of her family, who watched a Royal Air Force fly pass by on the balcony of Buckingham Palace

Prince Harry, the Duchess of Cambridge and Prince William share a joke as they gathered with other members to celebrate the grand ceremony

Prince William, pictured leaving Buckingham Palace on horseback, was one of many of the Queen's relatives who took part in the traditional celebration

The Duchess looked radiant in her Alexander McQueen outfit, jaunty hat and pearl earrings. This is her last official public engagement before she gives birth

But it would appear the chilly weather was a bit too cold for the royal family, and they covered their laps with blue blankets.
Queen Elizabeth II celebrated her birthday with traditional pomp and circumstance - but without her husband by her side.
Prince Philip remains in the hospital, recovering from exploratory abdominal surgery.
Instead the Queen invited her cousin, the Duke of Kent, to join her in her glass coach for the short journey from Buckingham Palace along The Mall.
It is thought to be only the third time that Philip has missed the event after not attending in 1962 and 1968 when he was away on royal tours.

Prince Harry, The Duchess of Cornwall and The Duchess of Cambridge are all smiles as they attend the Trooping the Colour in London today

Camilla and Kate looked like they were enjoying themselves as they waved at the crowds lining the route as their carriage drove to the military spectacle

All wrapped up: Camilla and Catherine sat side by side and made sure they had a blanket to cover their knees in case the weather turned cold

The Royal family were driven in a horse and carriage as they rode through the tree-lined Mall, as soldiers marched in a precise formation to celebrate the monarch's official birthday

Camilla, Duchess of Cornwall, Princess Anne, Queen Elizabeth II, Prince Andrew Prince Harry, Catherine and Prince William all stand on the balcony at Buckingham Palace to greet the crowds

What's Harry done now? Camilla and Kate giggle apparently at something Prince Harry has said - but the rest of the Royal family look the picture of serious

Sophie, Countess of Wessex, Lady Louise Windsor, Sir Timothy Laurence, Prince Harry, Camilla, Duchess of Cornwall, Catherine, Duchess of Cambridge, Princess Eugenie, Prince Andrew, Duke of York and Princes Beatrice stand on the balcony at Buckingham Palace during the annual Trooping the Colour Ceremony

She first took the royal salute in 1951 - when she deputised for her sick father, George VI - and has continued receiving the mark of respect every year except 1955 when there was a national rail strike.
The Queen, dressed in a royal blue Angela Kelly coat and hat with a matching lace dress, looked on under cloudy skies which parted now and then to reveal the sun.
Other royals watching included the Duke of York and his daughters Princesses Beatrice and Eugenie, and the Earl and Countess of Wessex with their daughter Lady Louise Mountbatten-Windsor.
The Queen took the royal salute as members of the royal family looked on.

Queen Elizabeth II and Prince William, Duke of Kent stand at Buckingham Palace during the elaborate ceremony

The Queen took the royal salute as members of the royal family looked on but she had to celebrate the ceremony without her husband, who is recovering in hospital

Queen Elizabeth can be seen peeping through the window of her carriage as soldiers and well wishers line the streets

Taking part in the ceremony on horseback are the Prince of Wales - who is Colonel of the Welsh Guards, the Princess Royal - who is Colonel of the Blues and Royals, and the Duke of Cambridge - who is Colonel of the Irish Guards.
More than 1,000 soldiers, horses and musicians are taking part in the parade known as 'Trooping the Color,' an annual ceremony marking the queen's official birthday.
The ceremony is also an important social occasion for the Guardsmen taking part and gives their wives, girlfriends, and relatives the chance to celebrate the achievements of the young men and enjoy the spectacle.
Many of the spectators in the stands overlooking the parade ground were dressed in morning suits or smart suits, while women wore dresses topped with hats and fascinators.
After the parade ended, the Queen was cheered by crowds gathered along the Mall as she was driven back to Buckingham Palace.
Following the parade, the King's Troop Royal Horse Artillery fired a 41-gun salute in Green Park to mark the Queen's official birthday.

Queen Elizabeth II first took the royal salute in 1951 - when she deputised for her sick father, George VI - and has continued receiving the mark of respect every year except 1955

Her Majesty looked delighted as she watched the Guards march outside Buckingham Palace, before inspecting the guards as members of the royal family watched on

The royals then gathered on the balcony at Buckingham Palace to watch the traditional RAF flypast.
Thousands of spectators crowded around the front of the palace and on The Mall, many cheering as a succession of planes roared overhead.
Among the featured 32 aircraft were 13 different types - from the famous Spitfire, Hurricane and Lancaster aircraft of the RAF Memorial Flight - to modern multi-role Typhoon fighters.
The Red Arrows completed the flypast - leaving a trail of red, white and blue smoke which swept across the sky behind them.
The Colour being paraded on Horse Guards this year is the flag of the 1st Battalion Welsh Guards.
The unit has recently returned from operational service in Afghanistan where the troops worked as part of the Afghan Police Advisory Team assisting the country to achieve self governance.

Prince William wore an elaborate uniform as he marked his grandmother's official birthday. The monarch turned 87 this year on April 21

A family affair: Members of the royal family participated in the annual event. Prince Charles and Princess Anne, the Princess Royal (right) rode on horseback during the procession and Prince William also joined in the ceremony (far left) in full costume

The Duke of Cambridge (left) Princess Royal (centre) and the Prince of Wales (right) arrive at Horse Guards Parade

Four of the five Foot Guards regiments of the Household Division - the Welsh Guards, Grenadier Guards, Scots Guards and the Coldstream Guards - were marching in the parade wearing bearskin hats and red tunics.
The Household Division Bands and Corps of Drums were also taking part, along with the King's Troop Royal Horse Artillery.
The ceremony originates from traditional battle preparations, when 'colors,' which refer to military flags, were carried down the rank to be seen by soldiers.
Although the Queen was born on 21 April and turned 87 this year, it has long been the tradition to celebrate the Sovereign's birthday publicly on a day in the summer, when good weather is more likely.
Trooping the Colour is carried out by fully trained and operational troops from the Household Division (Foot Guards and Household Cavalry) on Horse Guards Parade in Whitehall, watched by members of the Royal Family, invited guests and members of the public.

Princess Beatrice and Princess Eugenie were dressed in smart outfits and dainty hats as they attended their grandmother's official birthday celebrations. Princess Eugenie's elaborate headwear was designed by Sarah Cant

Cheer up! The sisters, who both complemented their pale outfits with flashes of black, looked downcast for a brief moment

The Earl and Countess of Wessex were clad in their finest as they drove through the hordes of well wishers who lined the streets of central London

Royal Salutes have been fired at both Edinburgh and Stirling Castle to mark the Queen's official birthday.
Gunners from 105th Regiment Royal Artillery (Volunteers) fired the two 21-gun royal salutes at noon.
Meanwhile, 1st Battalion Scots Guards, in their familiar red tunics and bearskins, provided both castle guards.
It is the first time the battalion has mounted a guard at Stirling in more than 300 years.
The royal salutes took place as the Queen attended the Trooping the Colour parade at Horse Guards Parade in London's Whitehall.
Commanding officer of 105th Regiment Lieutenant Colonel James Cook said: 'As the Scottish and Ulster Gunners, we are honoured to be firing royal salutes at Edinburgh and Stirling Castles on the occasion of Her Majesty the Queen's official birthday.
'We are extremely privileged to have the General Officer Commanding Scotland, Major General Nick Eeles, as the reviewing officer at Stirling Castle; and the Deputy Commander Land Forces, Major General Ranald Munro, as the reviewing officer at Edinburgh Castle.

Happy birthday, Ma'am! Guards make an imposing sight as they march down the Mall towards Buckingham Palace

Members of the Household Cavalry Mounted Regiment during the annual Trooping the Colour Ceremony

Today's ceremony which marks the Queens official birthday will not be attended by Prince Philip the Duke of Edinburgh as he recuperates from abdominal surgery

The Grenadier Guards marched on Horse Guards Parade as the sun managed to struggle through the clouds to brighten the day

This will be the Duchess of Cambridge's last public engagement before her baby is due to be born next month

'It is also a great pleasure to have 1st Battalion Scots Guards provide the guard at both castles, and it is worth noting the last time the Scots Guards mounted a guard at Stirling Castle was 1685.
'In addition, the regiment has now been given the official authority to fire four royal salutes annually at Stirling Castle. These will usually be fired by the regiment's 212 (Highland) Battery.'
Music at Stirling Castle was provided by the Highland Band of the Royal Regiment of Scotland.
The royal salute at Edinburgh Castle was fired by 207 Battery, with music from the Lowland Band of The Royal Regiment of Scotland.
The carriage that transported the Queen was built in 1881 as a town coach for the Lord Mayor of London, it was purchased for King George V's coronation in 1911.
It has been used for most royal weddings since then, including by the Queen when she married Philip in 1947 when she was still Princess Elizabeth.