Princess Madeleine and her family — husband Christopher O'Neill, daughter Princess Leonore and son Prince Nicolas — also posed together after the thanksgiving service.
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And after the thanksgiving service, 3-year-old Princess Leonore has a silly moment.
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The whole family (minus Princess Leonore and Prince Nicolas) gathers for a photo opp during a reception at the Royal Palace.
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King Carl Gustaf and Queen Silvia depart the thanksgiving service arm in arm.
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Ahead of her 40th birthday, Victoria spoke about anticipating her future role as queen in an interview: "My whole life is for Sweden. It may seem pretentious, but I feel it, it’s true. I see my parents and their tireless work, and I notice with joy how they do it with never-ending interest. I hope that I can experience the same joy at their age."
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The family of the hour travels from the Royal Palace to the Royal Stables by carriage through the streets of Stockholm. And Estelle, it seems, has perfected her royal wave!
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A procession of horses escorts the royal family through Stockholm, as well-wishers line the streets to catch a glimpse.
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At noon, the Armed Forces fired gun salutes from Skeppsholmen, an island in Stockholm, as well as four other cities in Sweden.
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On the balcony of the royal palace, Daniel, Victoria and Estelle wave to the crowds below.
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Madeleine is in mom mode when her children, Leonore and Nicolas, take a break on the floor of the royal palace during a reception.
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In an adorable moment, Estelle gives her mother a big birthday hug.
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In the evening, the whole family (minus the youngest members!) relocates to the city of Borgholm to attend a concert.
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Victoria broke out her traditional Swedish garb for the concert. In Sweden, her day of birth is referred to as "Victoriadagen."
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Sitting front row and center, Victoria leaned down to give Estelle a kiss on the forehead.
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In the middle of the event, Victoria took the stage to thank those who helped celebrate her birthday.
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It was a jam packed day, and 5-year-old Estelle felt the effects, yawning during the concert.