The Duke and Duchess of Sussex have joined the Queen for the Trooping the Colour parade to mark her 92nd birthday, writes BBC.
Prince Harry and his new wife Meghan, who married last month, arrived as part of the carriage procession.
Prince Philip, who retired from royal duties last year, did not attend the military parade. He turns 97 on Sunday.
Field Marshal Lord Guthrie fell from his horse during the parade and has been taken to hospital.
Lord Guthrie, 79, is the former head of the Army and then Chief of Defence Staff, the UK's most senior military officer.
Meanwhile, a 51-year-old woman has been arrested for a public order offence after an item was thrown towards the procession.
She is currently in custody at a central London police station, the Met Police said.
The Duke and Duchess of Sussex joined senior royals including Prince Charles and the Duke and Duchess of Cambridge for the event in London.
Large crowds of spectators gathered to watch Saturday's ceremony, which saw about 1,000 soldiers march to Horse Guards Parade in Whitehall.
Afterwards, the Royal Family appeared on the balcony in Buckingham Palace to watch an RAF flypast which included a display from the Red Arrows.
The Duke and Duchess of Cambridge's young children, Prince George and Princess Charlotte, looked out over the crowds, standing next to Savannah and Isla - the Queen's great-granddaughters.
The Duchess of Cornwall and Duchess of Cambridge arrived together as part of a carriage procession along the Mall.
They were followed by the Duke and Duchess of Sussex and the Queen's cousin, the Duke of Kent, in a second carriage which was greeted by cheering crowds.
The Countess of Wessex, her daughter Lady Louise and princesses Beatrice and Eugenie travelled in the third carriage.
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.
There had been fears that Field Marshal Lord Guthrie's fall from the horse may have altered timings for the RAF flypast, but the Royal Family's balcony appearance went ahead as planned.