The Duchess of Cambridge joined other senior members of the royal family today (8 June) to celebrate the Queen's 93rd birthday at the annual Trooping the Colour parade.

The mother-of-three was photographed arriving at Buckingham Palace by car alongside the Duke of Cambridge before he left to participate in the ceremony.

Brightening a cloudy day in the capital, the royal 37-year-old chose a sunny yellow coat dress by go-to brand Alexander McQueen complete with a floral Philip Treacy headpiece which she famously wore to the Duke and Duchess of Sussex's May 19 nuptials.

Duke and Duchess of Cambridge at Trooping the Colour 2019pinterest
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The Duke and Duchess of Cambridge photographed arriving at Buckingham Palace ahead of the 2019 parade

Bahrein pearl drop earrings and a regal low bun finished the daytime look.

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As the royal procession began, the Duchess of Cambridge was joined by the Duke and Duchess of Sussex in a carriage alongside the Duchess of Cornwall.

This year marks the Duchess of Sussex's second appearance at the parade. The new mother has taken a break from maternity leave to attend the regal event and is wearing a navy Givenchy ensemble - a far cry from last year's all-pink Carolina Herrera skirt suit.

The Duke and Duchess of Sussex at Trooping the Colour 2019 paradepinterest
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The Duchess of Sussex wore a navy ensemble by wedding dress designer Clare Waight Keller for Givenchy

To finish the royal look, she chose a matching Noel Stewart headpiece.

See pictures from the Trooping the Colour 2019 parade below.

Trooping the Colour 2019 in pictures
Prince Louis makes his Trooping the Colour debut