The palace has shared some behind-the-scenes images of the Prince and Princess of Wales with their children.

Trooping the Colour: King and Queen wave to crowds

Kensington Palace has shared some wonderful behind-the-scenes images of the Prince and Princess of Wales preparing to leave Buckingham Palace ahead of Trooping the Colour. The couple, who can be seen with their three children, Prince George, 11, Princess Charlotte, 10 and Prince Louis, seven, have important roles to play in the parade.

While Kate is the Colonel of the Irish Guards, Prince William rode in the parade on horseback in his role as the Colonel of the Welsh Guards. He joined his uncle, Prince Edward, and aunt, Princess Anne, who are Colonels of the Scots Guards and the Blues and Royals, respectively.

The sweet images show the couple preparing to leave the palace as the Princess and the three young royals climbed into the carriage.

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Kensington Palace have shared a behind-the-scenes glimpse (Image: Andrew Parsons/Kensington Palace)

The Princess of Wales and Princess Charlotte star in the pictures (Image: Andrew Parsons/Kensington Palace)

The Princess, who looked beautiful in a turquoise coloured dress, sweetly matched with Princess Charlotte, while Prince George and Prince Louis looked equally smart in matching red ties.

The image also gives a detailed look at Prince William’s full uniform. As well as his scarlet tunic and bearskin cap, which has a green and white hackle on the side, the Prince’s uniform features gold braiding on his shoulder, which is called an aiguillette and denotes that he is an Aide-de-Camp to the King.

Also clear are the embroidered leeks on his collar to show he is Colonel of the Welsh Guards and his blue sash which shows that he is a member of the Order of the Garter.

The Prince of Wales in his uniform as Colonel of the Welsh Guardsq (Image: Andrew Parsons/Kensington Palace)

Prince William congratulates his horse, Darby (Image: Andrew Parsons/Kensington Palace)

Trooping the Colour – which is otherwise known as the King’s Birthday Parade – has been taking place for over 260 years and sees over 1,500 soldiers, 200 horses and 400 musicians march in front of the King on Horse Guards Parade in Whitehall.

While it was first performed during the reign of King Charles II, it became an annual event in 1760, after the accession of King George III. Beginning and ending at Buckingham Palace, the spectacular parade also sees members of the Royal Family appear on the balcony to watch an RAF flypast which culminates in the Red Arrows decorating the skies with red, white and blue.

While he is no longer expected to ride on horseback in the parade, the King has been attending the parade for over 70 years – his first time being in 1951.