Kate, wearing a Jenny Packham white dress with black and white bow detail rode in a carriage with her three children before the “Trooping the Colour”.
The annual military parade, near Buckingham Palace in central London, marks the official birthday of the British monarch, King Charles. The event features over 1,400 soldiers and officers, accompanied by 200 horses. More than 400 musicians from ten different bands and Corps of Drums march and perform in perfect harmony.
Crowds lining the streets waved and cheered as the carriage went past.
Charles rode in a separate carriage with Queen Camilla, followed by Prince William, Charles’ heir and Kate’s husband, who was on horseback along with other senior members of the royal family.
It was the first time the Princess of Wales and King Charles III were reunited on the Buckingham Palace balcony since they both began cancer treatment.
And in a sweet gesture from the monarch, Kate stood next to Charles – a change from last year’s event when her husband Prince William was next to him.
It was only announced yesterday that the Princess was to attend the event, following weeks of speculation.
Ahead of the event, Kate had said in a statement: “I’m looking forward to attending the King’s Birthday Parade this weekend with my family and hope to join a few public engagements over the summer, but equally knowing I am not out of the woods yet.