3 June 2012 Last updated at 19:45

In pictures: Royals at the Diamond Jubilee

Diamond Jubilee picture galleries

Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall sit and a chat with some of those taking lunch in Piccadilly

The Prince of Wales and Camilla, Duchess of Cornwall were the first of the Royals to make an appearance, stopping for a brief sit-down and a chat with people attending a "Big Lunch" event in central London.

Prince Charles, Prince of Wales chats with people at a street party

The couple's surprise visit caused lots of excitement among the crowds at the Piccadilly street party.

The Duke and Duchess of Cambridge and Prince Harry, prepare to board the Spirit of Chartwell where they joined the Queen for the Diamond Jubilee Pageant on the River Thames in London.

Princes William and Harry and the Duchess of Cambridge made their way to Chelsea pier to the Royal Barge, the Spirit of Chartwell.

The Duchess, wearing an Alexander McQueen dress and matching Sylvia Fletcher hat, chatted to crowds lining the banks of the river.

Prince William wore his Flight Lieutenant No 1 Dress Uniform complete with blue garter sash

Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall at Chelsea Pier

Loud cheers greeted Charles and Camilla. The Prince of Wales was wearing his full military uniform; the duchess, a cream dress coat and hat.

The Queen greeted her son at the end of the pier. A scream went up from the crowd as Her Majesty gave them a wave with a lilac-gloved hand.

At 14:20 BST the Queen, wearing a silver and white dress and matching coat designed by Angela Kelly, and the Duke of Edinburgh boarded the royal launch and made their way to the royal barge.

Queen Elizabeth and Prince Philip wave from a boat during a pageant in celebration

They waved to the cheering crowds lining the banks of the river.

Princess Anne, Princess Royal and Vice Admiral Sir Timothy Laurence arrive at Chelsea Pier

Princess Anne arrived, and along with her husband, Vice-Admiral Timothy Lawrence, spoke to a guard of Chelsea Pensioners.

Princesses Beatrice (L) and Eugenie of York visit a Big Jubilee Lunch at All Saints Church, Fulham

Princesses Beatrice and Eugenie have been taking part in the celebrations. Earlier they visited a Big Jubilee Lunch at All Saints Church, Fulham.

Prince Andrew, Duke of York visits a "Big Lunch" street party at All Saints Church in Fulham

Their father, Prince Andrew, Duke of York also attended the event.

Catherine, Duchess of Cambridge, Prince Philip, The Duke of Edinburgh, Camilla, Duchess of Cornwall, Prince Charles, Prince of Wales, Queen Elizabeth II, Prince William, Duke of Cambridge and Prince Harry take part in The Thames River Pageant, as part of the Diamond Jubilee, on the royal barge

Tower Bridge lifted to allow the Royal Barge to pass. The Spirit of Chartwell turned around before it pulled up to watch the rest of the flotilla come through.