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June 13, 2015 08:30 AM

Prince George did it again.

As he did outside the hospital after his sister Charlotte’s May 2 birth, the little prince once more stole the spotlight from his parents – and guest of honor the Queen! – on Saturday at the annual Trooping the Colour extravaganza to mark the monarch’s 89th birthday in London.

Carried by his father, Prince William, onto the Buckingham Palace balcony for his first appearance there, the 22-month-old heir excitedly pointed to the crowd below. At one point, his mom Princess Kate – in her first public outing since Charlotte’s birth – smiled at him from behind William’s shoulder, prompting the toddler to show off his royal wave.

The busy little prince – who variously played with his dad’s uniform, reached for his dad’s nose and had his little finger in his mouth – wore a blue outfit with cream lace. It’s the very same one his dad wore for his first balcony appearance in 1984, PEOPLE has learned.

In another historic milestone, this was the first time the Queen and three immediate heirs – her son Prince Charles, grandson William and great-grandson George – have appeared together in public.

George’s balcony appearance – hinted at by palace officials on Friday – followed an earlier one in which he grinned and wagged his tongue as he peered out from a window in Buckingham Palace in the arms of his nanny, Maria Turrion Borrallo, while his mom and dad joined other royal family members in the grand parade below.

Prince George
Chris Jackson/Getty

In a Catherine Walker coat dress coat and hat by Lock & Co. and riding in the horse-drawn No. 1 Barouche carriage, Kate, 33, looked as sleek and perfectly put-together as ever – as if there were ever any chance she would appear otherwise.

(This is, after all, the woman who stepped out a mere 10 hours after giving birth on May 2 looking like she’d just been to the spa.)

With her son looking on, Kate waved from the carriage, in which she rode again this year with brother-in-law Prince Harry (showing off his recently awarded knighthood insignia) and stepmother-in-law Camilla, Duchess of Cornwall, 66.

Camilla, Duchess of Cornwall, (left) and Princess Kate
Tim Rooke/Rex USA

They were there to watch as Prince William – regal in his Royal Colonel of the Irish Guards scarlet tunic and towering bearskin hat – and his father, Prince Charles, 66, helped escort the Queen, who looked pretty in peach in a matching ensemble designed by her assistant, Angela Kelly.

After the ride back to the palace, the royal family gathered as they always do on the the historic Buckingham Palace balcony. Next came the thunderous noise of the famed fly-past, featuring 31 different aircraft trailing red, white and blue smoke in a spectacular air display for the British monarch. Among them: a WWII Spitfire fighter plane and a Sea King helicopter like the one William flew as an Royal Air Force Search and Rescue pilot.

Just before the royal family departed through the large palace doors, George gave one last wave to his fans.

There is still some pomp and ceremony to come today. Next up? William’s appearance (in long velvet robes) at the Order of the Garter service at St. George’s Chapel inside Windsor Castle.

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