The royal family is out in full force to celebrate King Charles’ official birthday at Trooping the Colour. 

On June 14, several members of the royal family came together to attend the Household Division’s majestic military parade in the heart of London. Trooping the Colour commemorates the monarch’s official birthday with an epic procession highlighting their historic links to the armed forces and the event has been a staple on the British royal family’s annual calendar for generations. 

PEOPLE previously confirmed that King Charles, 76, would travel by carriage instead of riding on horseback as his treatment for cancer continues. After the action at Horse Guards Parade, he was joined on the Buckingham Palace balcony by many family members to watch the Royal Air Force flypast soar overhead.

Queen Camilla supported her husband the King at Trooping, and Prince William and Kate Middleton attended with their three kids, Prince George, 11, Princess Charlotte, 10, and Prince Louis, 7, in tow. 

King Charles’ siblings (and Counsellors of State) Princess Anne and Prince Edward were also present at the festive event, with their spouses Vice Admiral Sir Timothy Laurence and Sophie, the Duchess of Edinburgh by their side.

The King’s cousins Prince Edward, the Duke of Kent, Prince Richard, the Duke of Gloucester and Prince Richard’s wife, Birgitte, the Duchess of Gloucester, also stepped out on the terrace of the royal residence and have supported the King at every Trooping since his accession in September 2022.

King Charles’ brother Prince Andrew was not expected to partake in the parade from Buckingham Palace to Horse Guards Parade for the ceremonial “trooping of the colour” (presentation of regimental flags) or step out on the Buckingham Palace balcony after to watch the flypast by the Royal Air Force. 

The Duke of York, 64, has not publicly appeared at Trooping the Colour since June 2019, several months before he gave a bombshell interview to BBC Newsnight that has been widely cited as the start of his fall from grace. 

In it, Queen Elizabeth’s second son addressed his alleged friendship with convicted sex offender Jeffrey Epstein and took a shock step back from royal duties a few days after the interview aired, amid intense backlash. The Duke of York has denied any wrongdoing. 

His transition away from a working royal role was made official when Queen Elizabeth stripped him of his military titles and patronages in January 2022 amid Virginia Roberts Giuffre’s civil sexual assault lawsuit. An out-of-court settlement was reached that February.

The royal cohort on the palace balcony at Trooping the Colour has also been slimmer since Prince Harry and Meghan Markle stepped back from their royal roles in 2020 and moved to the U.S. 

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The Duke and Duchess of Sussex last participated in the parade in June 2019 while they were still working royals in an event that fell just a few weeks after the birth of their first child, son Prince Archie, now 6. 

Trooping the Colour was significantly scaled down 2020 and 2021 amid COVID pandemic and brought back in 2022. That summer, Prince Harry, 40, and Meghan, 43, traveled back to the U.K. from their California home to attend a special edition of Trooping the Colour timed to Queen Elizabeth’s Platinum Jubilee, commemorating the 70th anniversary of her record reign. 

There, they watched the military procession and Royal Air Force display from a room overlooking Horse Guards Parade with other non-working royals. They have not been invited back to participate in the ceremonial parade since.

The Duke and Duchess of Sussex’s children Prince Archie and Princess Lilibet, 4, have never publicly attended Trooping the Colour, connecting to Prince Harry’s recent comments to the BBC that his kids “are going to miss everything” in his home country after he lost a legal appeal to restore his state-funded security there.