04/09/2005 at 10:30 AM EDT
More than 30 years since they began their controversial romance, Prince Charles wed Camilla Parker Bowles in Windsor, England, on Saturday.
Stepping out of the town's Guildhall at 12:53 p.m. (local time) to cheers from a crowd that had been standing outside for hours, the wedding couple headed a new royal family – complete with stepchildren.
There was no kiss before the crowd, like the one Charles had planted on Diana on the balcony of Buckingham Palace at their celebrated nuptials in 1981. But on their heels were Charles's sons with the late Princess, Princes William and Harry.
Saturday, the young men stood with their new stepbrother and sister, Tom and Laura Parker Bowles, to wave off their parents. Observers watched as Camilla looked back at her kids and waved.
A beaming Harry, 20, who was said to be the uneasiest about his relationship with his new stepmom, was first to wave back.
Her vows said, Camilla takes the title HRH Duchess of Cornwall. The bride, 57, wearing an oyster silk basket-weave coat with herringbone stitch embroidery and a chiffon dress by designers Robinson Valentine, took her place next to her husband in the backseat of a vintage Rolls Royce.
Charles decorated his Anderson and Shepherd morning suit with a hellebore flower picked from his garden at Highgrove. Princes William and Harry wore tiepin heirlooms that once belonged to the Queen Mother and were given to them by their grandmother, the Queen (who skipped the ceremony but attended the formal blessing afterward with Prince Philip).