In pictures: Royals at the Diamond Jubilee

3 June 2012 Last updated at 19:45

In pictures: Royals at the Diamond Jubilee

Diamond Jubilee picture galleries

The Prince of Wales and Camilla, Duchess of Cornwall were the first of the Royals to make an appearance, stopping for a brief sit-down and a chat with people attending a "Big Lunch" event in central London.

The couple's surprise visit caused lots of excitement among the crowds at the Piccadilly street party.

Princes William and Harry and the Duchess of Cambridge made their way to Chelsea pier to the Royal Barge, the Spirit of Chartwell.

The Duchess, wearing an Alexander McQueen dress and matching Sylvia Fletcher hat, chatted to crowds lining the banks of the river.

Prince William wore his Flight Lieutenant No 1 Dress Uniform complete with blue garter sash

Loud cheers greeted Charles and Camilla. The Prince of Wales was wearing his full military uniform; the duchess, a cream dress coat and hat.

The Queen greeted her son at the end of the pier. A scream went up from the crowd as Her Majesty gave them a wave with a lilac-gloved hand.

At 14:20 BST the Queen, wearing a silver and white dress and matching coat designed by Angela Kelly, and the Duke of Edinburgh boarded the royal launch and made their way to the royal barge.

They waved to the cheering crowds lining the banks of the river.

Princess Anne arrived, and along with her husband, Vice-Admiral Timothy Lawrence, spoke to a guard of Chelsea Pensioners.

Princesses Beatrice and Eugenie have been taking part in the celebrations. Earlier they visited a Big Jubilee Lunch at All Saints Church, Fulham.

Their father, Prince Andrew, Duke of York also attended the event.

Tower Bridge lifted to allow the Royal Barge to pass. The Spirit of Chartwell turned around before it pulled up to watch the rest of the flotilla come through.