16/06/2012 08:57 BST

Duke Of Edinburgh Joins The Queen For Trooping The Colour Parade In London (Pictures)

The Duke of Edinburgh appeared in good spirits in his first major public engagement since leaving hospital as he joined thousands of well-wishers to celebrate the Queen's official birthday at the Trooping the Colour parade.

Philip attended the traditional display of pomp and pageantry after being discharged from hospital a week ago following treatment for a bladder infection. He and the Queen arrived in a glass coach for the televised military spectacle which is held every year at Horse Guards Parade in Whitehall, central London.

The couple were due to travel in Queen Victoria's 1842 ivory-mounted phaeton carriage but changed due to the "unpredictable nature of the weather", a Buckingham Palace spokesman said.

It was the first appearance by the Duke since being hospitalised for a kidney infection

The coach, built in 1881, was first used by the Queen and Duke on their wedding day when they travelled from Westminster Abbey to the palace on November 20 1947.

Thousands of people, including friends and family of those taking part, packed into seats and stands around to watch precision marching by hundreds of Guardsmen.

The Queen took the royal salute as senior members of the royal family looked on.

She wore a primrose yellow coat and dress by Angela Kelly with matching hat, and displayed her Brigade of Guards brooch.

The Duke wore a full ceremonial dress as Colonel of the Grenadier Guards.

The Duchess of Cambridge, wearing a grey Erdem dress with a Jane Corbett designed hat, watched proudly as the Duke of Cambridge arrived on horseback to take part in the parade as Colonel of the Irish Guards.

The Prince of Wales, who is Colonel of the Welsh Guards, the Princess Royal, Colonel of the Blues and Royals, and the Duke of Kent, Colonel of the Scots Guards were also on parade.

The Queen celebrated her actual birthday on April 21, when she turned 86, but today's ceremony marked her official birthday, which is always in June.

She first took the royal salute in 1951, when she deputised for her sick father, George VI, and has continued receiving the mark of respect every year except 1955 when there was a national rail strike.