Prince George, Princess Charlotte and Prince Louis Ride in a Carriage with Kate Middleton at Trooping the Colour

Princess Kate and Prince William's three children are back as they celebrate their grandfather King Charles' second birthday parade since becoming monarch

Prince George, Princess Charlotte and Prince Louis are taking part in the parade!

The three children of Kate Middleton and Prince William returned to Trooping the Colour on June 15, riding through London in a horse-drawn carriage from Buckingham Palace to Horse Guards Parade as part of the festivities marking King Charles' official birthday.

Prince George, 10, Princess Charlotte, 9, and Prince Louis, 6, were joined by their mom, 42, in the coach while Prince William, 41, rode in the procession on horseback.

Prince Louis and Princess Kate sat side-by-side facing forward while Prince George and Princess Charlotte sat across from them. They rode in the Glass Coach rather than the event's usual open-top carriages, shielding them from the rainy weather. The Glass Coach, built in 1881 and purchased for King George V’s coronation in 1911, has brought many royal brides to their weddings, including Princess Anne in 1973, Princess Diana in 1981 and Sarah Ferguson in 1986.

Related: Trooping the Colour: Hats Off to the Royals' Best Looks Through the Years

The Princess of Wales' appearance at Trooping the Colour marked her first public outing with the royal family since Christmas amid her cancer treatment. Her participation was confirmed the day prior in a personal letter sharing an update on her health. "I'm looking forward to attending the King’s Birthday Parade this weekend with my family and hope to join a few public engagements over the summer, but equally knowing I am not out of the woods yet," she said in the message.

The trio of royal siblings made their carriage debut at Trooping the Colour in 2022, which doubled as the first major event of the late Queen Elizabeth's Platinum Jubilee celebrations that marked her historic 70-year reign.

Can't get enough of PEOPLE's Royals coverage? Sign up for our free Royals newsletter to get the latest updates on Kate Middleton, Meghan Markle and more!

The royal siblings rode in the procession again last year when the event celebrated their grandfather King Charles' birthday for the first time in his reign, sharing a carriage with mom Princess Kate and Queen Camilla. George, Charlotte and Louis coordinated in red, white and blue ensembles for the occasion.

The young royals also rode in a horse-drawn carriage following the coronation of King Charles and Queen Camilla on May 6, 2023. Sitting opposite their parents, the Prince and Princess of Wales, the children showed off their royal waves to the thousands gathered along the route from Westminster Abbey to Buckingham Palace.

The Prince and Princess of Wales' children watched the presentation from the Major General's Office overlooking Horse Guards Parade.

Prince Louis is known for providing plenty of fun moments at royal events through the years, and this Trooping the Colour outing was no exception. The youngest of the siblings yawned, showed off a few dance moves and played with curtain cords while watching the event. While Princess Kate laughed at Louis grooving to the band's music, Princess Charlotte appeared to scold her little brother!

After their carriage ride back to Buckingham Palace, Prince George, Princess Charlotte, and Prince Louis will join members of the royal family on the royal residence's balcony to take in the Royal Air Force's flypast.

Prince George, Princess Charlotte and Prince Louis all made their debuts on the Buckingham Palace balcony for the flypast at Trooping the Colour before their first time riding in the procession in 2022. Prince George made his first appearance at Trooping the Colour in 2015 carried by dad Prince William, while Princess Charlotte made her adorable debut the following year in a pink ensemble. It was Prince Louis' turn to steal the show in 2019, excitedly waving and pointing to the sky during his first balcony appearance.

For more People news, make sure to sign up for our newsletter!

Read the original article on People.