It was another glorious display of pomp, pageantry and tradition for this year's Trooping the Colour in London. The Duchess of Cambridge travelled in a horse-drawn carriage with Prince Harry and the Duchess of Cornwall. The royals waved to well-wishers. Trooping the Colour is a military parade dating back to the 1700s. Although the Queen's birthday is 21 April, it has long been tradition to celebrate the Sovereign's birthday publicly on a day in June, when good weather is more likely. Her Majesty has attended Trooping the Colour every year since 1947 except in 1955 when a national rail strike cancelled the event. This year, with her 90th celebrations in full swing, it's particularly special. The Queen on her first Trooping as the Sovereign in 1952. Her Majesty and The Duke of Edinburgh travelled in an Ascot Landau drawn by horses Sydney and Vienna. Over 1,400 officers and military personnel are on parade, together with two hundred horses; over four hundred musicians from ten bands and corps of drums march and play as one. Some 113 words of command are given by the Officer in Command of the Parade. The parade route extends from Buckingham Palace along The Mall to Horse Guards Parade, Whitehall and back again. The Army in London More on the day's events from the Household Division: 'During the ceremony, the Queen is greeted by a Royal salute and carries out an inspection of the troops. After the massed bands have performed a musical 'troop', the escorted Regimental Colour is carried down the ranks. The Foot Guards and the Household Cavalry then march past Her Majesty, and The King's Troop, Royal Horse Artillery, rank past. The Queen rides in a carriage back to Buckingham Palace at the head of her Guards, before taking the salute at the Palace from a dais. The troops then return to barracks.' A magnificent scene on the Mall. On horseback were Prince Charles, Colonel of the Welsh Guards; Prince William, who is Colonel of the Irish Guards; and the Princess Royal, Colonel of the Blues and Royals. Following activities at Horse Guards Parade, the Royal family headed to Buckingham Palace where they assembled on the balcony to watch the RAF flypast. The Cambridge family appeared on the Buckingham Palace balcony together for the first time. Princess Charlotte made her debut at the event. As always, it was a real treat to see the adorable pair. How adorable are they? :) Yesterday, the Duchess told guests at a reception Charlotte has "a feisty side". We got to see little glimpses of her personality today. A gorgeous shot of Kate with her daughter. The Cambridges and Prince Harry. A royal wave from Charlotte :) Embed from Getty Images Prince George was eager to get a better look. Embed from Getty Images There was a large turnout from immediate and extended family members. The flypast was spectacular as always. George looked particularly impressed. Charlotte appeared to find it a little noisy and momentarily covered her ears. The royals enjoyed the display. A wave from Prince George as the royals made their way inside. Does Prince George's outfit look familiar to you? It was previously worn by Prince William at Prince Harry's christening in 1984. We regularly see the Duchess giving a nod to previous occasions through sartorial choices. For official events George is often dressed in looks worn by William or very similar to styles he wore as a child. Embed from Getty Images For George's first Trooping appearance last year, he wore the blue outfit William wore for his first appearance in 1984. A closer look at the little prince. Those expressions are priceless :) Princess Charlotte looked darling in a pretty pink dress. What Kate's Kids Wore noted she also wore her pink Amaia Kids bow and her Early Days 'Mary Jane' shoes. It's the sixth consecutive year Kate has attended the event. In 2011, it was cream McQueen followed, by bespoke Erdem in 2012. In 2013 and 2014, she selected looks from McQueen, and last year a floral-print coatdress by Catherine Walker. We recently saw Kate repeat the cream McQueen style she wore to Prince George's christening for The Queen's garden party. Today, it was another christening repeat - the bespoke cream, fit-and-flare McQueen coatdress the Duchess wore last July when Princess Charlotte was baptised at St Mary Magdalene Church on the Sandringham estate. This time, the Duchess teamed the coatdress with a striking pink hat by Irish milliner Philip Treacy (with thanks to Ella Sweet Pea). It is described as "a moulded slice hat in sinamay with rosettes from the SS16 Collection". The soft pink colour of the hat works very nicely with cream. Mr. Treacy has long been a favourite of the royals, the Duchess has been wearing his designs since her pre-engagement days. A closer look at the hat on Kate. The Duchess accessorised with her Mappin & Webb Empress Pendant. The Duchess completed the look with new large pearl earrings. It was thought they are a pair by Balenciaga, but upon closer inspection it seems they are not identical. We'll update if they are identified. You can watch full coverage of the event on YouTube. We'll see you tomorrow for The Patron's Lunch :)