Prince William Rides on Horseback at Trooping the Colour — See Which Royals Joined Him

Prince William is displaying his horseback riding skills at Trooping the Colour.

The Prince of Wales, 41, took part in his father King Charles' annual birthday parade on June 15, riding on a horse named Darby in the procession through London.

As the honorary Colonel of the Welsh Guards, William sported the red uniform with a leek symbol on the neckline paired with a traditional bearskin cap adorned with the regiment's white and green plume. He wore his Most Noble Order of the Garter Sash, Royal Air Force Pilot Wings and four medals: the Gold, Diamond, and Platinum Jubilee medals, plus the Coronation Medal.

Also participating in the parade was Prince William's wife, Kate Middleton, in her first public appearance since publicly revealing her cancer diagnosis in March. The Princess of Wales, 42, rode in a horse-drawn carriage with the couple's three children: Prince George, 10, Princess Charlotte, 9, and Prince Louis, 6.

Princess Kate announced her plan to attend the royal event one day prior, writing in a personal message, "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."

Two other members of the royal family rode on horseback for Trooping the Colour this year: Princess Anne and Prince Edward, the Duke of Edinburgh.

Although King Charles has ridden on horseback in previous years, including his first Trooping the Colour as monarch in 2023, it was previously announced that the King would conduct his review seated in a horse-drawn carriage alongside Queen Camilla this year.

Queen Elizabeth switched from participating in the event on horseback to riding in a coach in 1987 when she was 60 — compared to her heir, who is now 75.

King Charles revealed his cancer diagnosis in February and resumed a fuller schedule of royal duties in April after spending time out of the public eye amid his treatment. He continued to work behind the scenes and hold small audiences, but he joked during a May 9 outing that he was glad to be "out of my cage."

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!

Hundreds of soldiers, horses and musicians came together on June 15 for the display of military precision and fanfare to mark King Charles' birthday, a royal family tradition dating back over 260 years.

The day will end with a favorite tradition: the royal family gathering on the Buckingham Palace balcony to watch the Royal Air Force planes perform a flypast over London.