The crowds braved a downpour just as the parade was starting at 11am.
But even the wet weather could not dampen the joy of those getting a wave from accompanied by Kate children George, Charlotte, nine, 10, and Louis, six and Charles as they passed by.
For the 8,000 people who had secured tickets for an enclosure at Horse Guards Parade in St James's Park several months ago, the appearance of the King and Princess came as a bonus.
It was also a surprise to the men of Number 9 Company Irish Guards who led yesterday's ceremony.
Only last week, they were read a letter that had been penned by the Princess - the regiment's honorary colonel - in which she apologised for missing the Colonel's Review rehearsal.
But on Friday Kate revealed her plans to attend yesterday's event, adding: "I hope to join a few public engagements over the summer but equally know I am not out of the woods yet."
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