From left, Camilla, Duchess of Cornwall Prince Charles, Queen Elizabeth II, Prince George, Prince William, Princess Charlotte, Prince Louis and Kate, Duchess of Cambridge stand on the balcony, at the end of the Platinum Jubilee Pageant held outside Buckingham Palace, in London, Sunday June 5, 2022, on the last of four days of celebrations to mark the Platinum Jubilee. The pageant will be a carnival procession up The Mall featuring giant puppets and celebrities that will depict key moments from Queen Elizabeth II’s seven decades on the throne. (Roland Hoskins/Pool Photo via AP)

LONDON — In a crowning moment for her Platinum Jubilee, Queen Elizabeth II waved at tens of thousands of adoring crowds from the balcony of Buckingham Palace on Sunday, delighting fans who had hoped to catch a glimpse of her during the final day of festivities marking the monarch’s 70 years on the throne.

The 96-year-old monarch has curtailed her schedule in recent months due to difficulties in moving around. Prior to Sunday, the queen had only appeared in public twice — both on Thursday — during the four-day holiday weekend’s celebrations. Officials said she experienced “discomfort” during those events.

Huge crowds that lined the Mall outside the palace for the climax of a boisterous, colorful pageant cheered as the monarch emerged on the balcony with Prince Charles, his wife Camilla, and Prince William and his family.

It was an image for the history books and a glimpse into the monarchy’s future, with the queen’s three heirs — her 73-year-old son Charles, eldest grandson William and eldest great-grandson Prince George — by her side.

The queen, dressed in bright green, waved and smiled after the crowds belted out “God Save The Queen.” Her appearance, which only lasted a few minutes, was followed by a crowd-pleasing performance of ABBA’s “Dancing Queen.”

It was an uplifting finale to a massive street pageant celebrating the queen’s life and highlighting Britain’s diversity. Thousands of people turned out on the streets of London, many speaking with excitement and pride about their queen and country.

“We were completely bowled over. We came over all patriotic and excited in a way that we didn’t think we were going to,” said Veronica Timperley, 75, who watched with her daughter Kate.

Afterward, the monarch issued a statement thanking all those who celebrated her Platinum Jubilee.

“When it comes to how to mark seventy years as your Queen, there is no guidebook to follow. It really is a first,” she said. “But I have been humbled and deeply touched that so many people have taken to the streets to celebrate my Platinum Jubilee.

“While I may not have attended every event in person, my heart has been with you all; and I remain committed to serving you to the best of my ability, supported by my family.”

Sunday’s pageant began with a spectacular military parade featuring 200 horses marching down the Mall to Buckingham Palace.