Cheering crowds thronged the streets of London for the grand finale to four days of festivities marking the Queen's Diamond Jubilee on Tuesday.
The Queen earlier attended a service at St Paul's Cathedral where the Archbishop of Canterbury praised her lifelong dedication, then a lunch at Parliament, before a carriage procession through central London back to Buckingham Palace. More than 100,000 people lined the streets.
The Queen travelled in an open-topped coach with the Prince of Wales and the Duchess of Cornwall back to Buckingham Palace, the BBC reports.
Princes William and Harry and the Duchess of Cambridge followed in a second coach.
They were led along The Mall by soldiers from the Household Cavalry Mounted Regiment, and the King's Troop, Royal Horse Artillery, then fired a 60-gun salute.
The day's events culminated in an appearance by the Queen on the balcony of Buckingham Palace in front of huge crowds and a flypast by World War II aircraft.
Prince Philip has been absent from his wife's side in the last two days as he is in hospital with a bladder infection.
The Earl and Countess of Wessex visited the Duke of Edinburgh on Tuesday afternoon. Afterwards, Prince Edward said: He's feeling better. The countess added: He's in good spirits; he's on good form.
In a message to the nation which was broadcast on radio and television, the Queen called her Diamond Jubilee a humbling experience, saying she was touched deeply by seeing so many people celebrating together.
She thanked all those who organised the events and said she will continue to draw inspiration from the kindnesses shown to her in Britain and throughout the Commonwealth.