The King and Queen also travelled by carriage to the ceremony, riding in the Scottish State Coach while the Prince of Wales rode on horseback to the event.
The Princess, who is still undergoing chemotherapy, will later make an official appearance on the balcony alongside the King and the other members of the Royal Family.
Princess of Wales makes first public appearance since cancer diagnosis: Catherine takes part in trooping the colour for king’s birthday but has said she is ‘not out of woods yet’ »
