The made a huge return to the royals' annual Garter Day event after missing last years due to her cancer treatment. Kate dazzled in a recycled white Self Portrait dress and hat by Sean Barrett as she proudly watched , along with and , take part in one of the the most colourful events of the royal calendar.

It sees royals and others donning the grand velvet robes and plumed hats for a procession from the castle to St George's Chapel for a private service before they return in horse-drawn carriages. Kate giggled with Sophie, the Duchess of Edinburgh, as she watched the procession pass through the grounds of Windsor Castle.

The King, resplendent in the traditional velvet robes and plumed hat of the Order of the Garter, smiled as he presided over the elaborate display of pomp and pageantry in the blazing sunshine. The Queen, also dressed in the order’s full regalia, walked alongside him as the procession snaked its way down the hill from the castle’s quadrangle to St George’s Chapel.

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Ahead of them, walked William, who chatted to his uncle, the Duke of Edinburgh, but failed to catch his wife’s eye. The Princess Royal was just ahead of them. Meanwhile, the Duke of Kent, 89, travelled by car accompanied by an equerry.

Kate and Sophie had emerged from the Galilee Porch entrance to the chapel at least ten minutes before the procession started, chatting and laughing together under a canopy. As the elderly Military Knights of Windsor, who led the procession, appeared into view and made their way slowly past them, the two women appeared tickled by something, laughing together.

When William came into view further up the hill, he appeared to keep glancing towards his wife but she was too busy chatting to the Duchess. Hundreds of onlookers, many trying to shelter from the heat with straw hats and parasols, cheered as the party slowly made its way through the grounds. Many had brought camping chairs and picnics, while others purchased ice creams.

After the private service finished, the royals were taken in carriages back to Windsor Castle, with the King and Queen leading the way followed by the Prince and Princess of Wales.

The Order of the Garter is the oldest and most senior order of chivalry in Britain, with knights chosen by the sovereign in recognition of their outstanding public service and achievement. Last year, the was invested, having been made a Royal Lady Companion.

Air Chief Marshal the Lord Peach, a retired RAF officer who chairs Nato’s military committee, Lord Kakkar, a professor of surgery, and Lord Lloyd-Webber, the composer, were also invested and installed as Knights.

Other Knights include former prime ministers Sir and Sir and Baroness Manningham-Buller, the former head of MI5, the first female chancellor of the Order.

One royal missing from today's procession was P, has not taken part in the public procession for the last four years.

However, he was seen earlier today dressed in a shirt and tie driving to Windsor Castle for the event, where he was believed to have take part in the event's the annual lunch and investiture, which takes place behind closed doors.

Andrew stepped down from public life after the furore over his friendship with convicted sex offender . Since the 2022 Garter Day, the last one observed by the late Queen, he has not taken part in the public procession wearing the Garter robes and plumed hat.

The Order of the Garter is limited to 24 Knights or Ladies Companion, in addition to the King and the Prince of Wales and several "supernumerary members", including some foreign monarchs such as the King of Spain and the King of the Netherlands.

Recipients of the honour are chosen because they have held public office, contributed to national life or served the sovereign personally.

The appointment of Knights and Ladies of the Garter is in the King's gift and is made without consulting ministers. After the service, the royals take part in a traditional carriage procession back up the hill to Windsor Castle.

The ceremony heralds a busy period for the royals, with the King and Queen expected at in the coming days, and early next month they will host a state visit by French President Emmanuel Macron.