The Royal Family gathered Saturday on the balcony of Buckingham Palace to celebrate the annual Trooping the Colour amid clear skies and cheering crowds.

King Charles III and Queen Camilla were joined by the Prince and Princess of Wales and their three children – Prince George, 10, Princess Charlotte, 9, and Prince Louis, 6. The young royals waved and smiled at well-wishers, with Louis at one point dancing excitedly.

The event marked Princess Catherine’s first public appearance since she announced earlier this year that she had been diagnosed with cancer and was undergoing treatment. She traveled to the ceremony in the Royal Glass Coach alongside her children.

In a statement Friday, the Princess said she was “making good progress” with treatment but acknowledged having “good days and bad days.” Though she has been able to work from home, she said she was “not out of the woods yet.”

The Princess expressed gratitude for the “kind messages” from the public, saying they made “a world of difference to William and me and has helped us both through some of the harder times.”

Trooping the Colour featured an impressive military parade with over 1,250 soldiers participating. Hundreds of guardsmen were lined up in two rows and inspected by the King and Queen, who were followed by mounted royal Colonels.

The annual event celebrates the official birthday of the British Sovereign. This year’s parade came amid a challenging period for the Royal Family as the Princess of Wales continues her cancer battle.

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