Prince Charles and Prince William each gave touching tributes, and sprinkled in some humor too.
The queen appeared in a sketch before the festivities got underway.
Lilibet turned 1 on Saturday but the Duke and Duchess of Cambridge were in Wales for other engagements.
See all the photos of the royal family at Queen Elizabeth II's Platinum Jubilee Celebration
The visit to Wales comes on an action-packed Saturday for the queen's Platinum Jubilee.
Queen Elizabeth and Kate Middleton shared messages on social media.
Meghan Markle and Prince Harry were seen seated far away from Kate Middleton and Prince William at the latest Platinum Jubilee event.
A source confirms to ET that Queen Elizabeth II finally met Prince Harry’s little girl, Lilibet, at Trooping the Colour on Thursday.
The 96-year-old monarch will be sitting out another Platinum Jubilee event.
Prince William and Kate Middleton's youngest son, Prince Louis, shows off his personality at Trooping the Colour.
Meghan Markle and Prince Harry stepped out for the kickoff of Queen Elizabeth's Platinum Jubilee celebration.
Eugenie and her husband, Jack Brooksbank, welcomed August in 2021.
The monarch made a balcony appearance on Thursday.
Andrew was absent from Thursday's Trooping the Colour.
