The priceless royal vehicle was seen travelling down The Mall as part of the Jubilee pageant in what is the first time it has been seen in 20 years.
Archive footage of the 27-year-old monarch waving on her Coronation Day - on June 2, 1953 – was beamed on to the windows of the carriage to make it seem as if she was riding inside.
Built in 1762, it is the third-oldest coach in the UK and left the Royal Mews for the first time since the Golden Jubilee.
Made of giltwood - gold leaf over wood - the coach’s four-ton heft means it is only used at walking pace.
Its designs show Britannia on the banks of the Thames, with St Paul’s Cathedral just visible.
The Duke and Duchess of Cambridge were joined by their kids Prince George, Princess Charlotte and Prince Louis in the royal box to watch the pageant.
Cyclists including Sir Chris Hoy, Dame Laura Kenny and Sir Jason Kenny also took part in the event.
Around 300 cyclists on vintage bikes from across the seven decades of the Queen’s reign soon gollowed behind.
Strictly Come Dancing professionals also joined the street pageant in London to celebrate the Queen’s Platinum Jubilee.
Platinum Jubilee 2022: The Queen appears at Buckingham Palace
Dancers including Amy Dowden, Graziano Di Prima, Jowita Przystal, Nancy Xu and Nikita Kuzmin headed down the road in a group pedalo-style vehicle.