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See Princess Kate in Her Carriage and Prince William on His Horse – in All Their Trooping Splendor!

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It’s a fairy-tale come to life in London this morning, as Princess Kate took a carriage ride pulled by Cinderella the horse!

Camilla, Duchess of Cornwall (left) and Princess Kate
Danny Martindale/WireImage
The ceremonial ride, in which she also shared a barouche (open-top) carriage with brother-in-law Prince Harry and mother-in-law Camilla, Duchess of Cornwall, went along the Mall in London from Buckingham Palace as part of the ceremonial festivities for Queen Elizabeth‘s official birthday, a celebration known as Trooping the Colour.

Prince Harry
Samir Hussein/WireImage
Kate wore the same Alexander McQueen coat she wore for Princess Charlotte‘s christening last year and paired it with a light peach Philip Treacy hat. According to a Treacy rep, the hat is from their spring/summer ’16 collection and is a moulded slice in sinamay with rosettes. Camilla wore coordinating white Anna Valentine coat and matching topper by Treacy.

Meanwhile, the Queen stood out in very bright green ensemble by Stewart Parvin and a matching hat by Rachel Trevor Morgan. She topped off the look with her Brigade of Guards brooch.

Queen Elizabeth and Prince Philip
Martin Dalton/REX/Shutterstock
Prince William rode up ahead on royal horse Wellesley (said by the army to be a “calm mottled gray” steed) as he, like his dad Prince Charles, is a royal colonel. William was in the familiar bearskin hat, ceremonial scarlet of Colonel of the Irish Guards (complete with his Jubilee medals).

Prince William
Mark Cuthbert/UK Press via Getty

From left: Prince Charles, Prince William and Anne, Princess Royal
Ben A. Pruchnie/Getty
The other royal colonel, the Queen’s only daughter Princess Anne, rode atop Elizabeth, a soon-to-be-retired horse named for the guest of honor.

Anne, Princess Royal
TGB/Neil Warner/Splash News Online

Queen Elizabeth and Prince Philip attending Trooping the Colour on June 11.
Ben A. Pruchnie/Getty
The annual Trooping the Colour birthday parade, in which nearly 1,500 soldiers take part in precision marches and drills, took on special significance with the Queen’s landmark 90th birthday this year. (She marked her actual birthday on April 21.)

Prince Charles
TGB/Neil Warner/Splash News Online
Last year, Kate’s Trooping appearance was the first time she had taken part in an official event since the May 2 birth of daughter Charlotte.

Related Video: A Look Back at Princess Kate’s Past Year With Her Children

Later this morning, a now 1-year-old Charlotte is expected to be on the balcony with her brother Prince George, nearly 3, for the annual post-parade fly-past by Royal Air Force jets.

Princess Beatrice (left) and Princess Eugenie
TGB/Neil Warner/Splash News Online
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Along with more than 1,000 troops, there are 300 horses on parade this year, with the musicians from the Household Division Bands and Corps of Drums playing too. The eye-catching Drum Horses of the Household Cavalry Band carrying priceless antique solid silver drums – they weigh 80 lbs. each! – will also be on parade.

Each year, a different regiment takes a turn presenting its colors down the ranks – a drill that is based on the colors being used as rallying point on the battlefield. This year, it’s the turn of Number 7 Company Coldstream Guards.

With reporting by MONIQUE JESSEN