The crowds along The Mall went wild as the Queen's carriage went past on the final section of its short journey back to Buckingham Palace.
This was the moment they had been waiting all day for.
As she raised her hand and waved, the spectators cheered even louder and fluttered their flags even more vigorously.
Celebrity spotting: just before the Queen arrived, John Barrowman, the star of the BBC's Doctor Who spin-off Torchwood, rushed through the crowd heading in the direction of the Palace.
He was obviously in a hurry, but one middle-aged lady managed to grab him and kiss him as he passed.