See All the Members of the Royal Family Arriving for the Queen's Annual Christmas Lunch
Kate wore a bubblegum pink ensemble as she gave a wave.
Prince Charles, who celebrated his 70th birthday last month, got a ride to his mother's annual luncheon.
Prince Andrew drove separately from his older daughter as he headed to the palace.
Sophie, Countess of Wessex, sported chic glasses as she took the wheel.
Lady Louise Windsor took the passenger's seat with her mother, Sophie.
Mike and Zara Tindall, who welcomed their second daughter this summer, had plenty to celebrate this year.
Zara pulled her hair back into a low bun for the holiday tradition.
Princess Anne appeared to sport a festive red outfit for the family gathering under her coat.
Princess Anne's son, Peter Phillips, drove his two daughters, Savannah and Isla, to the festivities.
Peter's wife, Autumn Phillips, was all smiles as she headed to Buckingham Palace.