The Sovereign’s Carriage Procession, with two outriders on grey horses, left the grand entrance of Buckingham Palace at 11am, slowly winding its way through the streets of Westminster, down the Mall, past Horse Guards Parade, before turning right down Whitehall.

Their Majesties opted to travel in the most modern of state carriages, the Diamond Jubilee State Coach, which boasts hydraulic suspension, a heating system, lighting, electric windows and air conditioning. It was last seen in action when they made their way to their Coronation at Westminster Abbey on May 6.

The King wore his Admiral of the Fleet Royal Naval dress uniform, with cap and sword, while the Queen re-wore her elaborate Bruce Oldfield Coronation dress.

The couple were followed, in the Glass Coach, by Queen’s Companions, Fiona Mary Petty-Fitzmaurice, the Marchioness of Lansdowne and Lady Sarah Keswick, alongside Master of the Horse, Lord de Mauley, and Earl of Rosslyn, The Lord Steward.

The Princess Royal, Gold Stick in Waiting, followed behind in a state landau with brigadier Mark Berry, silver stick in waiting, and Colonel Guy Stone, Field Officer in Brigade Waiting.

Troops from the Army, RAF and Royal Navy lined the route, while the Household Cavalry Mounted Regiment, including 124 horses, provided a Sovereign’s Escort.

As the procession arrived in Parliament Square, gun salutes were fired from Green Park and the Tower of London.

Loud boos rang out from hundreds of Republic protesters who chanted “not my King” and “down with the crown”.