19/05/2012 08:44 BST | Updated 19/05/2012 11:40 BST

Queen's Diamond Jubilee: Royal Attends Troop Parade At Windsor

The Queen and the Duke of Edinburgh today watched a parade of thousands of troops in Windsor Castle to celebrate the Diamond Jubilee.

Six massed bands led servicemen and women from the Royal Navy, Army and Royal Air Force (RAF) in the uplifting musical pageant.

Joined by other members of the royal family on a dais in the Quadrangle of Windsor Castle - her favourite residence - the Queen smiled and muttered comments to her husband during the parade.

Outside the castle walls thousands of people lined the streets to cheer and wave union flags as the 2,500 troops from the Armed Forces marched past on their way to a specially built arena in the grounds of the royal estate.

The parade and muster began with a flypast of RAF Typhoons in the Diamond Nine formation, which drew cheers and applause from the crowds in the arena and on the parade route.

The Queen wore a turquoise silk, lace and sequinned dress with a matching coat and hat by designer Angela Kelly.

Philip wore the navy blue uniform of Admiral of the Fleet with the Garter sash. He was made Lord High Admiral last year by the Queen.

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Royal Borough Councillors wait outside Windsor ahead of the parade

As the troops gathered in formation on the parade arena in front of a stage designed to look like Buckingham Palace, the guests were treated to music played by the combined bands.

Once everyone for the Tri-Service Guard of Honour was in place, the Queen and Philip were driven in a State Bentley along the parade route to more cheers and applause.

The Royal Family took their positions in the grandstand in front of members of foreign royal families, including the Sultan of Brunei, the Queen and Prince of Denmark, the King and Queen of Lesotho, the Grand Duke and Duchess of Luxembourg, the King and Queen of Norway, the King of Swaziland, the King and Queen of Sweden, the Crown Prince and Princess of Thailand and the King and Queen of Tonga.

A short service of prayers, readings and hymns led by the Reverend Scott Brown, the Chaplain of the Fleet, followed.

He said: "With respect and affection, we give thanks for the example she (the Queen) has set her people, and we pray that, supported by the love and loyalty of her subjects, she may be given health and strength to continue her service and long to reign over us."

Sir David Richards, the Chief of the Defence Staff, said to the crowd and the Queen from the podium in the arena: "For six decades, your devotion to duty, sense of honour, and pride in our country have set the standards to which your Armed Forces constantly aspire.

"Your own family have added to the support you bring.

"Many ships, regiments and air stations have close connections with members of the Royal Family and I have the honour to have two of your grandchildren serving with me today.

"I know I speak for all those who have the privilege to wear your uniform and hold your commission when I thank you for your dedication to our service and to our country."

The Queen said from the grandstand: "It is a tradition of very long standing that the Sovereign, and members of the Royal Family, are intimately associated with the Armed Forces and have been proud to serve in all three services.

"We are very proud of the selfless service, and sacrifices made by servicemen and women and their families in recent years.

"It is very gratifying to celebrate and take pride in successful achievements, but the real test of character is the ability to maintain morale and a positive spirit in bad times as well as when things are going well."

The Queen was then given a stirring Three Cheers by the servicemen and women, who thrust their head-dresses in the air as they shouted "Hooray!".

Then new pieces of music written specially for the event were performed by the bands.