The 92-year-old queen, whose real birthday is April 21, seemed vigorous as she keenly observed the event.
Prince Harry and Meghan Markle, who have just returned from their honeymoon, occupied the second carriage while Princesses Beatrice and Eugenie, the Countess of Wessex and her teenage daughter Lady Louis Windsor rode in the third.
Case in point: Meghan Markle and Prince Harry's first appearance at Trooping the Colour as a married couple.
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Prince George and Princess Charlotte have had their fair share of adorable moments, and the cuteness continued today as the pair stood alongside family on the Buckingham Palace balcony at the Trooping the Colour parade. The "Quantico" actress wore a pastel shade of purple with a matching hat by Philip Treacy, while Spencer opted for a navy blue, collared dress with polka dots and a matching hat.
But later in the day, as the Queen's procession made its way back to Buckingham Palace, Field Marshal Lord Guthrie, 79, a former head of the armed forces, was thrown from his horse near the Victoria Memorial.
The Queen's great-granddaughter then turned to younger cousin, Prince George, to school him in the art of royal etiquette.
Meghan also had her hair styled in a bouncy blowout.
Kate Middleton showed off her masterful mom skills on Saturday when she swooped into action after Princess Charlotte took a spill on the balcony of Buckingham Palace during the Trooping the Colour flypast. Such was the case during Meghan and Harry's return to Buckingham Palace, when she could be seen trying to keep her hair in some semblance of order.