The Earl and Countess of Wessex joined the Duke and Duchess of Gloucester in the second carriage.
Prince Charles, as Colonel of the Welsh Guards, arrived on horseback with the Princess Royal, who is Colonel of the Blues and Royals, and the Duke of Kent, Colonel of the Scots Guards.
Prime Minister Gordon Brown also attended the ceremony with his wife Sarah.
This year's Trooping the Colour is the 57th birthday parade of the Queen's reign.
The procession was accompanied by a Sovereign's Escort of the Household Cavalry, made up of Life Guards and Blues and Royals, in their silver and gold breastplates and plumed helmets.
Irish Guards
The Queen's actual birthday was on 21 April, when she turned 83.
The tradition of two birthdays dates back to the time when, if monarchs were born in winter, the weather was deemed unsuitable for outdoor events.
Traditionally before battle, Colours - or flags - were carried, or "trooped", along the rank of soldiers so they could be seen and recognised.
In 1748, it was decided the trooping would also be used to honour the sovereign's birthday.
The Colour paraded this year was that of the 1st Battalion Irish Guards.
This page is best viewed in an up-to-date web browser with style sheets (CSS) enabled. While you will be able to view the content of this page in your current browser, you will not be able to get the full visual experience. Please consider upgrading your browser software or enabling style sheets (CSS) if you are able to do so.
Bookmark with:
What are these?