The Queen tapped her foot along with the music as she watched a scaled back version of Trooping the Colour for her official birthday, for the second year in a row because of the COVID-19 pandemic.
The Queen was joined by the Duke of Kent at Windsor Castle for the annual celebration, the second year in a row it has been unable to go ahead in its full form in London.
The duke is Colonel of the Scots Guards and it was his colour being trooped this year.
After the Queen's arrival at 11am, the national anthem was played, and the monarch looked on, dressed in a grey and yellow coat dress and matching hat by her dresser, Angela Kelly - the same outfit she wore to the State Opening of Parliament earlier this year.
The 2021 ceremony was slightly bigger than the 2020 occasion, and the Queen chose to have a guest with her this time, instead of going alone.
There were closer to 300 members of the armed forces in Saturday's Trooping, up from just 85 who put on the socially distanced spectacle last year.
Members of the public were seen on the Long Walk near Windsor Castle as the Household Cavalry marched toward the Queen's home.
The ceremony. which the Queen looked to enjoy, tapping along with the music, was about 40 minutes and came toward its end with another playing of the anthem, before the field officer asked permission for them to march off.
The Queen nodded, at which point the troops moved back out of the Quadrangle.
She and the duke, 85, stood as the horses marched past her and looked delighted to see the nine RAF Red Arrows planes overhead in a flypast.
Normally Trooping the Colour finishes with a flypast over Buckingham Palace, which the whole Royal Family assembles to watch from the balcony.
The Queen was spotted exchanging some words passionately with her cousin, the duke, and some of the members of staff dotted around the Quadrangle.
Saturday was the 69th Trooping the Colour the Queen has enjoyed during her reign.
Lieutenant Colonel Guy Stone has planned the occasion over the last few months, and before the parade, said he hoped to create a memorable and uplifting day for the Queen.
He said: "It’s been extremely demanding; we’ve had to tackle COVID like everybody else, with some people needing to isolate and therefore not being able to be on parade."
Explaining there has been no daily practice because of the removal of the changing the guard at Buckingham Palace, he added: "So from a skillset perspective it’s been very difficult to achieve what I hope will be a good standard because we’re not doing the Changing of the Guard ceremony every day due to the pandemic – that applies to horses, the musicians and the Guardsmen with their foot drill and rifle drill.
"Last year we had 85 on parade, this year we’ve got 274, plus 70 horses, so we’re really excited about the event having grown and getting us back to normal for next year we hope.
"It’s been very challenging, but we like a challenge. COVID has got a lot to answer for in so many ways, it’s made this difficult but what we want to do more than anything is give the Queen a memorable and uplifting day."
Lt Col Stone was also in charge of the military arrangements for Prince Philip's funeral in April.
He was made a Lieutenant of the Royal Victorian Order by the Queen in recognition of his efforts.
The Queen is in the midst of a busy few days, having spent Friday in Cornwall meeting world leaders who have gathered for the G7 summit.
She put them at ease during the family photo, quipping: "Are you supposed to be looking as if you’re enjoying yourself?"
She travelled back from Cornwall overnight on the royal train to be back at Windsor in time for the Trooping parade.
On Sunday she will host Joe and Jill Biden for tea at Windsor Castle.
Trooping the Colour marks the monarch's official birthday and has been celebrated on the second Saturday in June since the 1960s.
The Queen's real birthday is in April, but she spends the day quietly. This year she was still officially in royal mourning during her birthday.
Despite being 95, the Queen has proved her commitment to the work as head of state, carrying out engagements in Cornwall and meeting with the Bidens.
She has continued with her audiences at the palace via video calls and made a steady return to in-person work as well.
She and the palace will be hoping the parade can return in its full form for next year, as it is planned to be part of her Platinum Jubilee celebrations.
Britons will enjoy an extra bank holiday in June, giving a bumper four day weekend, which will be kicked off by the Trooping the Colour in London.
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