14/05/2012 06:03 BST

The Queen's Diamond Jubilee Pageant: Dame Helen Mirren, Martin Clunes, Susan Boyle Perform (VIDEO, PHOTOS)

Dame Helen Mirren, Martin Clunes, Susan Boyle and Joss Stone were some of the stars invited to help celebrate the 250 State and Commonwealth visits the Queen has made during her reign, at Windsor Castle on Sunday.

Singers SuBo, II Divo and Joss Stone all sang for the Queen as hundreds of horses and performers from across the world also came together for the special pageant.

Dressed in a shimmering cream coat, the Queen accompanied by the Duke of Edinburgh, arrived at the event in a horse-drawn Landau carriage pulled by four Windsor Greys.

Four Canadian Mounties saluted her as she left her carriage and made her way to the royal box to watch the proceedings.

The Duke of York, Princess Beatrice, Prince and Princess Michael of Kent, Princess Alexandra and the Duchess of Cornwall joined the couple as they watched the Diamond Jubilee Pageant.

The World Comes To Windsor aims to take the audience on a journey around the world in 90 minutes.

The show featured displays from the Mounted Band of the Household Cavalry Regiment and the King's Troop, Royal Horse Artillery.

Royal Canadian Mounted Police, Mexican singers and dancers, Cook Island dancers, New South Wales Mounted Police and Aborigines, Dhol drummers and dancers and the Omani Mounted Activity Ride also performed.

The event will be broadcast by ITV during the Jubilee celebrations in June.

PHOTOS: The stars of the night...

Queen's Jubilee Pageant