Queen Elizabeth II leaves Buckingham Palace to attend the Trooping the Colour parade.Photo: Dominic Lipinski/PA Wire

Prince Philip was back in the public eye today after his health scare, joining the Queen for her official birthday celebrations at the Trooping the Colour parade.

The Duchess of Cornwall (left) and the Duchess of Cambridge leave Buckingham Palace to attend the Trooping the Colour parade

The 91-year-old Duke of Edinburgh appeared in good spirits as he attended the traditional display of pomp and pageantry.

It was his first public appearance 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.

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.

(From left to right) The Duke of Cambridge, the Prince of Wales and the Duke of Kent leave Buckingham Palace to attend the Trooping the Colour parade. Photo: Dominic Lipinski/PA Wire

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

The Duchess of Cambridge 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.

Despite a few spots of rain, the weather was vastly improved from the rain-drenched River Thames Pageant at the height of the Queen’s Diamond Jubilee celebrations.

The Duke of Edinburgh stood beside the Queen as she inspected the long line of troops wearing their famous red tunics and bearskins.

The Colour being paraded on Horse Guards was the flag of the 1st Battalion Coldstream Guards, led by Major Mark Lewis.

Some 1,600 officers and soldiers in the traditional uniforms of the Household Cavalry, Royal Horse Artillery and Foot Guards took part in the parade.

More than 200 horses and around 290 musicians from 10 bands and corps of drums participated.

After the parade ended, the Queen was cheered by crowds gathered along the Mall as she was driven back to Buckingham Palace before the Changing of the Guard ceremony.

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.