5 June 2012 Last updated at 11:23

In pictures: St Paul's service and carriage procession

Diamond Jubilee picture galleries

Queen Elizabeth (3rd L) looks up during a fly past as she stands with (L-R) Camilla, Duchess of Cornwall, Prince Charles, Prince William, Catherine, Duchess of Cambridge and Prince Harry on the balcony of Buckingham Palace in London

Four days of Diamond Jubilee events culminated in an appearance by the Queen on the Buckingham Palace balcony for a flypast, which had been in doubt due to the threat of bad weather.

Crowds started to build up in the early morning outside St Paul's and Buckingham Palace.

Prince Andrew, Duke of York, is driven down the Mall on his way to Saint Paul's Cathedral

They cheered as the Queen and royal family members left Buckingham Palace by car for the service at St Paul's.

Queen Elizabeth II with lady-in-waiting Lady Farnham is driven down the Mall on her way to Saint Paul's Cathedral

The Queen left at 10:15 BST in her state Bentley, accompanied by a lady in waiting.

Prince Philip remains in hospital with a bladder infection and missed the final events marking the Queen's 60-year reign.

Prince Charles, accompanied by the Duchess of Cornwall, the Duke and Duchess of Cambridge and Prince Harry, arrived at St Paul's at 10:22 BST in a fleet of cars from Clarence House.

Queen Elizabeth II arrives for the service of thanksgiving

There was a fanfare as the Queen, wearing a mint green outfit of fine silk tulle, embroidered with tiny star-shaped flowers, arrived at St Paul's for the service at 10:30 BST and the crowds chanted "God save the Queen".

The Earl and Countess of Wessex and Lady Louise Windsor arrive at the service of thanksgiving at Saint Paul"s Cathedral.

Guests, including leading politicians, military personnel and members of the royal family and household, took their seats inside the cathedral ahead of the service.

Princess Beatrice and Princess Eugenie wave as they arrive with their father Prince Andrew

Prime Minister David Cameron and his wife Samantha arrived about 40 minutes before the start, followed a short while later by the Princess Royal's daughter Zara Phillips and her rugby-playing husband Mike Tindall, the Duke of York and his daughters Princess Beatrice and Princess Eugenie and the Earl and Countess and Wessex.

The fourth day of celebrations is a more formal one, with the Archbishop of Canterbury, Dr Rowan Williams, giving a sermon in front of the Royal Family and leading national figures

Prime Minister David Cameron (R) acknowledges the Leader of the Opposition Ed Miliband (L) during a service

Prime Minister David Cameron, who gave a reading, led the large representation from the government.

Queen Elizabeth waves as she exits St Paul's Cathedral with Dean of Saint Paul's David Ison

In his sermon the Archbishop of Canterbury paid tribute to her "lifelong dedication". The Queen waved to the assembled crowds as she exited with Dean of Saint Paul's, David Ison.

Queen Elizabeth II and David Wooton, the Lord Mayor of London, during a reception at Mansion House in the City of London

After the service, the Queen moved on to a reception at Mansion House - the official residence of the Lord Mayor of London.

Prince Andrew, Duke of York, Prince Charles, Prince of Wales, Prince William, Duke of Cambridge, Camilla, Duchess of Cornwall, Catherine, Duchess of Cambridge, Prince Harry, Prince Edward, Earl of Wessex, daughter Lady Louise Windsor and Sophie Countess of Wessex

The Prince of Wales and Duchess of Cornwall, and William, Kate and Harry, left to attend a similar event at the Guildhall.

A policeman rallies the crowds as they line up to watch the carriage procession

The royal parties then moved on through crowd-lined streets to a City of London Livery companies lunch at Westminster Hall where they dined on salmon, followed by Welsh lamb, grilled Isle of Wight asparagus, Jersey Royal potatoes and chocolate delice, bread and butter pudding and berry compote with apple sauce.

Queen Elizabeth II travels in a horse drawn carriage returning to Buckingham Palace

The Queen left Westminster Hall in an open-topped coach accompanied by Prince Charles and the Duchess of Cornwall.

The Duke and Duchess of Cambridge leave Westminster Hall after a Diamond Jubilee Luncheon given for The Queen by The Livery Companies of The City of London.

The Duke and Duchess of Cambridge, and Prince Harry followed in a second coach for the journey to Buckingham Palace.

Queen Elizabeth (hidden) rides in the 1902 State Landau carriage as she leads a carriage procession through central London, en route to Buckingham Palace

They were led along The Mall by soldiers from the Household Cavalry Mounted Regiment, and the King's Troop, Royal Horse Artillery, then fired a 60-gun salute.