The Queen has appeared on the balcony of Buckingham Palace at the culmination of her four-day Platinum Jubilee weekend.

Her Majesty thrilled thousands of well-wishers outside the royal residence in central London as she waved to the cheering crowds and the celebrations drew to a close.

The 96-year-old monarch stood with Prince Charles, the Duchess of Cornwall, the Duke and Duchess of Cambridge, and their children Prince George, Princess Charlotte and Prince Louis.

The head of state looked at ease on the balcony as she leaned on her stick, now a routine aid following her mobility issues.

Queen and royals appear on Buckingham Palace balcony – live jubilee updates

The national anthem was then played, as a host of celebrities including Sir David Jason, Harry Redknapp, Sir Cliff Richard, Sandie Shaw and Felicity Kendal joined in a mass rendition of God Save The Queen.

Around 10,000 people, including a cast of 6,000 performers, earlier took part in a 3km street pageant from the Palace of Westminster, along Whitehall to Admiralty Arch and down The Mall to the palace and then St James’s Park.

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The parade told the story of her life, and the nation, with an eccentric, fun and imaginative carnival-like display.

After the pageant was over, thousands of members of the public were allowed to walk up The Mall to outside the Queen’s official London residence, where they were treated to a much-anticipated second balcony appearance by the monarch, as well as music from Ed Sheeran.

The Cambridges later tweeted their appreciation, writing: “Amazing display of street art, theatre, music, sport and more… What a joyous occasion at the #PlatinumJubilee pageant!”

Meanwhile, millions of people across the UK gathered for patriotic street parties, picnics and barbecues, with more than 85,000 Big Jubilee Lunches held to mark her 70 years on the throne.

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Her Majesty was last seen in public on Thursday as she lit a beacon at Windsor Castle on the first day of the celebrations.

Earlier that day she was seen on the Buckingham Palace balcony to watch a military flypast, joined by other working royals.

The Queen was unable to attend Friday’s thanksgiving service at St Paul’s Cathedral and also the Epsom Derby on Saturday due to her mobility problems.

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She watched Saturday night’s Platinum Party at the Palace from Windsor Castle.

But she also played a starring role, appearing at the beginning of the party coverage in a pre-recorded comic sketch with Paddington Bear, where she revealed, like the furry character, she is partial to a marmalade sandwich.

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During the party outside Buckingham Palace, the monarch received affectionate tributes from the Prince of Wales and national figures, and there was music from the likes of Sir Rod Stewart, Diana Ross and Duran Duran.

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