Prince Philip Steps Out After Illness – With the Queen, William & Kate
06/16/2012 AT 03:00 PM EDT
The 91-year-old joined the Queen, Prince William and his wife Kate, and other members of the royal family for the traditional balcony appearance at Buckingham Palace.
Earlier, Philip donned the red tunic and heavy bearskin hat of his rank of Colonel in the Grenadier Guards at the annual birthday parade for the Queen – also known as Trooping the Colour.
Philip has been recovering at home since leaving the hospital, where he was treated for a bladder infection. But on Saturday, he was seen standing ramrod straight as 1,600 soldiers paraded in front of the Queen, 86. He and the Queen (in a bright yellow coat and dress outfit by her in-house designer Angela Kelly) were transported from the palace to the parade grounds in a glass coach for the military spectacle.
Kate, in a dove gray dress by Erdem with a hat by Jane Corbett, delighted the crowds along the Mall by riding in an open-topped carriage with Prince Harry and the Duchess of Cornwall to the official birthday parade.
William arrived for the ceremony on horseback in his role – and full uniform of Colonel of the Irish Guards.
Elsewhere, Princesses Beatrice and Eugenie rode in a carriage with their father, Prince Andrew.
Kate's wedding dress designer, Sarah Burton, received an OBE (Order of the British Empire) in the Queen's birthday honors. Also honored: Kate Winslet and Kenneth Branagh, who was knighted. Gary Barlow, who organized the jubilee concert, was given an OBE as well.