Several members of the royal family joined the Trooping the Colour military parade in central London - and we've got some sharper pictures to show you now.

Camilla, Duchess of Cornwall rode in a carriage with Kate, Duchess of Cambridge, and her three young children - Prince George, Princess Charlotte and Prince Louis. On a bright day, the children, all dressed in blue, could be seen smiling and squinting against the sun.

Prince Charles, his son Prince William, and the Queen's daughter Princess Anne all arrived on horseback.

Image source, Getty Images

Image source, Reuters

Image source, Reuters

Image source, Getty Images

Prime Minister Boris Johnson and his wife Carrie have been seen watching the Trooping of the Colour.

They were standing as part of the crowd at Horse Guards Parade, which is just next to Downing Street.

Jon Kelly
Reporting from The Mall

Bal Banga has always been fascinated by the Royals. She’ll devour any news stories or documentaries about them. She thinks it goes back to a childhood encounter.

“I saw Prince Charles when I was little,” says Bal, 49. “He came to Derby and he visited a Sikh temple. We all had to line up and greet him with flags.”

She’s travelled down on the train from her home in Leicester with her son Gavin, 25, who lives in London and works in telecoms. But he doesn’t have his mum’s enthusiasm for the monarchy.

“I’m one of a newer generation,” he says. "I’m not a royalist. I don’t care for royals.”

Nonetheless, it was an opportunity to spend time with his mum. “The sun is shining and it’s a nice day out."

The Colour of the Irish Guards is being Trooped at Horse Guards Parade as part of the Queen's Platinum Jubilee celebrations.

The Prince of Wales has taken the salute.

The melody of the escort to the Colour is being played as the bands conduct a difficult manoeuvre known as "the spinwheel".

The significance of the Colour - or flag - is that it used to be a rallying point in the fog of battle - and that is why it is displayed clearly to troops during the ceremony.

Image source, Getty Images

Jon Kelly
Reporting from The Mall

As the crowd grew around The Mall, Kirsty McLaren climbed a lamppost and looked above the sea of arms all filming a marching band with their smartphones.

“It’s fabulous up here,” she says. “I can see all the bearskins, I can see the band. And I can see all the people on the other side and their responses.”

Kirsty, 26, travelled down overnight on the sleeper train from St Andrew’s, Fife, where she works for a church. At Euston she met her sister Elizabeth, 32, a teacher in Essex, before making their way here. It was the first time they’d seen each other in six months.

“We both love the Queen,” says Elizabeth, who remained firmly on the ground. “We were brought up with a huge respect for her.”

Kirsty agrees: “She’s just wonderful. She has such dignity and compassion and shows such sacrifice.” And she hoped she would spot her later from her vantage point.

Jon Kelly
Reporting from The Mall

At 06:30am, Kerry Russell had secured her viewing spot on The Mall in front of the barrier. Hours later, Kerry was in good cheer despite the early start and the long wait.

She wore a bowler hat impaled with a Union flag and brandished another in her hand.

Kerry had been here for the Queen’s last Jubilee and she it felt important to her to witness the Queen’s platinum anniversary.

“I’m 53 - she’s been here my entire life,” says Kerry, who lives in north London. “You just have to admire her."

“It’s partly about celebrating her and partly about soaking up the atmosphere here today,” she says.

Keep your eyes peeled for the Irish Guards' mascot: This is Seamus the Irish Wolfhound, or to use his formal name, Turlough Mor - who has a big role in Trooping the Colour.

He'll lead the procession up the Mall with his handler, Adam Walsh.

Image source, Reuters

Sean Coughlan
Royal correspondent, at Buckingham Palace

Prince Charles is carrying out the inspection at Trooping the Colour. It’s another royal duty being handed from the 96-year-old Queen to her son.

Along with the sound of marching bands and horses’ hooves, you can hear a transition by small degrees.

Already this year it’s been the Prince of Wales who has taken on the big ceremonial duties.

He performed one of the most important roles of the head of state, carrying out the State Opening of Parliament.

That followed standing in at the Commonwealth Service and the Maundy Service, all big diary events.

And as at the State Opening, Prince William is also in attendance. It seems unlikely that pattern will be reversed.

The Royal Family's official Twitter account has shared a unique view of today's events - from the roof of Buckingham Palace.

The scene shows The Mall and the London skyline beyond - and really gives a sense of the sunshine that is gracing proceedings down below.

Thom Poole
Reporting from Horse Guards

The Mall is at least six to seven people deep, and lots of people are standing on railings a few metres back.

For lots of people here, it's an audio experience as much as anything else - the bang of drums, ripples of applause and loud cheers.

A number of arrests have been made for highway obstruction after people tried to breach the security barrier and get onto The Mall, the Metropolitan Police have said.

The incident took place at around 10:10 BST, the force said in a series of tweets, before thanking the crowd who are said to have "showed their support by clapping our [sic] officers".

Sean Coughlan
Royal correspondent, reporting from Buckingham Palace

Prince Charles, Prince William and the Princess Royal are riding to the Trooping the Colour ceremony.

William is riding a horse called Derby so maybe he’s hoping for a winner at Epsom on Saturday.

In the first carriage are Catherine, Duchess of Cambridge and Camilla, Duchess of Cornwall.

Apart from the Queen, that group now represents the core group of most senior royals, taking on an increasing number of the monarch’s duties.

It’s those four who will be most prominent as this parade begins - with the Queen to appear a little later on the balcony.

But as we've just been reporting the next generation - Prince George, Princess Charlotte and Prince Louis - are present too.

We've just had our first glimpse of Camilla, Duchess of Cornwall, alongside Catherine, Duchess of Cambridge, and the Cambridge children, George, Charlotte and Louis.

They were travelling in a horse-drawn carriage from Buckingham Palace to Horse Guards Parade where they will watch the Trooping of the Colour.

The 1st Battalion Irish Guards are leading Trooping the Colour for the Queen's Platinum Jubilee.

You can watch a flavour of the parade here.

Jon Kelly
Reporting from The Mall

As the crowd along The Mall thickens, Shazmiya Firdaus, 32, and Salamath Silmy, 35, are looking for the best spot to catch a glimpse of the Queen.

This is the first time both have done so. Originally from Sri Lanka, Shazmiya and Salamath recall relatives telling them stories of Royal visits to the country. Now they live in Harrow, north London, and they want to take their chance to see her up close for themselves.

“She’s a role model for us - the way she’s managed her family and managed the Commonwealth,” says Shazmiya.

“She’s such a strong personality,” adds Salamath. “I always talk to my daughter about how we have to be strong like her.”

The greatest honour in the birthday parade is when a regiment marches their regimental Colour, or flag - and this year it's the turn of the Irish Guards.

They are making their way down the Mall - the long route linking Buckingham Palace and Westminster - towards Horse Guards Parade.

The Irish Guards last trooped their colour here in 2017 and today they are trooping a new Colour presented to them two weeks ago.

Jon Kelly
Reporting from The Mall

Despite coming from Gettysburg, Pennsylvania, this is the third Trooping the Colour Elaine Henderson, 63, has witnessed.

“I’m a history nut and this represents everything I love about Britain,” says Elaine, a retired encyclopedia executive. “I love the tradition.”

As for the Queen herself, Elaine said she felt huge sympathy for her after a difficult few years - the loss of her husband, the public rows over Harry and Megan, the fallout from Prince Andrew’s BBC Newsnight interview.

Elaine admired the way the 96-year-old monarch persisted nonetheless: “She’s always been there. She’s just this figure of stability.”

We're witnessing a great tradition today - Trooping the Colour.

All of the Foot Guard regimental bands are on their way to Horse Guards Parade - the stage for today's trooping ceremony.

Ensuring the bands move as one requires great discipline and musicianship to achieve the military and musical precision the occasion demands.

Thom Poole
In St James's Park

Spectators here face a dilemma: join the thick crowds on The Mall to try to get a glimpse of the live action, or take the relative comfort of a seat in front of the big screen in the park nearby.

To use a cliche, there really is a festival atmosphere here.

Friends and families have gathered, there is laughter and excitement, as well as long queues for portaloos and booze cracked open at breakfast time.

Still, not everyone has given up hope of a better view. "It's definitely thinner up there," one woman said.

The annual military parade that today marks the beginning of the Queen's Platinum Jubilee celebrations - is now under way in central London.

Foot Guards are moving from the Wellington Barracks and Hyde Park Barracks.

They have passed Buckingham Palace and are travelling down the Mall towards Horse Guards Parade - located close to Whitehall near Westminster.