The monarch, who is continuing his weekly cancer treatment in between events, fully embraced the pomp and pageantry with Queen Camilla.
Wearing white plumed hats and dark blue velvet robes, they were joined by Charles's eldest son William and the King's siblings Anne and Edward.
Normally William's wife Kate would attend but she is continuing her cancer treatment after making a much-lauded public appearance at Saturday's Trooping the Colour.
As is tradition, the royals walked behind the official procession of the Knights and Ladies of the Order of the Garter, who currently include former Prime Ministers Sir Tony Blair and Sir John Major.
New members being installed this year were Lord Lloyd-Webber, the Duchess of Gloucester, Lord Kakkar and Lord Peach - making the total 21 out of a maximum 24.
Former MI5 director-general Baroness Manningham-Buller is the order's new Chancellor the first woman to hold the post since its inception in 1475.
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