Behind the scenes of Queen Elizabeth's last ever Buckingham Palace balcony appearance: Royal experts reveal how the moment was planned - and King Charles' touching reason for encouraging his mother to take part

The late Queen's final Buckingham Palace balcony appearance demonstrated the monarch's commitment to duty above all else, royal experts have said - and showed a sweet insight into her relationship with her son.

Speaking on Channel 5's Secrets of the Royal Palaces, broadcaster and historian Wesley Kerr said that Elizabeth II - who made one last surprise show for adoring crowds on the final day of Platinum Jubilee celebrations in 2022 - wanted to be there for her supporters.

And he stressed that the royal - who had not been feeling well - wanted to keep that side of her away from wellwishers. 

'She wanted us to see her as the Queen,' he told the programme, which airs on Saturday at 8:35pm. 'Trooping had been quite difficult and she stayed in the palace for some hours after trooping which surprised me on the day.'

After joining her family on the balcony to witness a spectacular RAF fly-past on Thursday June 2, she was unable to attend a thanksgiving at St Paul's Cathedral the following day after suffering discomfort.

The late Queen's final Buckingham Palace balcony appearance demonstrated the monarch's commitment to duty above all else, royal experts have said - and showed a sweet insight into her relationship with her son

The Queen was a no-show on the Saturday at the Epsom Derby and also did not attend that evening's Party at the Palace - although her recorded sketch with Paddington Bear stole the show.

Instead, it was decided she would be taken to Windsor where she could focus on resting up. 

'There was a profound underlying condition which was well advanced by then, and it was extremely difficult for her to make it,' Wesley explained.

However - as revealed in the book Our King by Robert Jobson - with the Queen's agreement, arrangements were put in place for her to fly by helicopter from Windsor Castle to Buckingham Palace and for her to use a wheelchair, although a meticulously orchestrated plan was put in place to ensure that she was not seen using it in public.

'The crowd didn't know any of this,' royal writer Emily Andrews said. 'They didn't know she was ill, they didn't know she was suffering in pain and they didn't understand why the Queen wasn't there.'

Wesley added: 'It was only when Charles rang up from the royal box and said, mummy, you know, there's vast numbers of people here, there's a wonderful atmosphere, is there any chance that you could make it?'

The Mall erupted in fervour and excitement after Elizabeth made her unexpected appearance at the Palace.

'Queen Elizabeth had been appearing on that balcony since the late 1920s as the king's granddaughter,' Wesley added.

Pictured: The late Queen Elizabeth enjoying her Platinum Jubilee celebrations in June, 2022 - the year she passed away

Speaking on Channel 5 's Secrets of the Royal Palaces, broadcaster and historian Wesley Kerr (pictured) said that Elizabeth II wanted to be there for her supporters

'Little did we know this was the last time we were ever to see her on that famous balcony. A huge moment.' 

'When the queen stepped out on the balcony at Buckingham Palace, looking absolutely resplendent in that green outfit, the crowds goes absolutely wild,' Afua Acheampong-Hagan, broadcaster and royal correspondent, said. 

'The pinnacle of the Platinum Jubilee was seeing the Queen on that balcony and you could see the emotion written all over her face.

'I think she was so very very glad that she managed to see her people, if you will, one last time.'

'She felt it was her duty to come to London, to acknowledge the crowds,' Emily added.

'But it wasn't just about duty, it was about Charles wanting the queen to see how much she was loved.

'She always put duty above personal pain, above family, above personal sacrifice. Duty always comes first.'

Pictures of an obviously delighted Queen walking gingerly out onto the balcony before waving to the jubilant crowd are among Platinum Jubilee's most iconic images.

Emily Andrews, pictured, a royal writer, said that the Queen 'always put duty above personal pain'

Afua Acheampong-Hagan (pictured), broadcaster and royal correspondent, said the Queen's appearance was the 'pinnacle' of Jubilee celebrations

She later issued a moving letter to the nation in which she declared: 'My heart has been with you all.'

Her attendance at the triumphant finale of four days of festivities had, however, hung in the balance for days.

The Mail on Sunday revealed in March 2022 how Queen Elizabeth had made it clear that her presence at events of personal significance, such as the Commonwealth and Cenotaph services, should not come at any cost.

Meanwhile, the King is determined to attend this year's Trooping the Colour, his official birthday celebrations, if his health allows it.

Aides are already exploring ways that Charles might be able to take part within the constraints of his ongoing cancer treatment.

This could include watching the military spectacular from a podium instead of on horseback as usual, having been driven from Buckingham Palace in a carriage as his late mother used to.

No firm decision will be taken until nearer the time, given the nature of His Majesty's condition, and it will be dependant on medical advice.

The event is due to be held in London on Saturday, June 15. But the Mail understands that planning for the occasion is moving ahead as scheduled, giving cause for optimism.

Pictures of an obviously delighted Queen walking gingerly out onto the balcony before waving to the jubilant crowd are among Platinum Jubilee's most iconic images

Pictured: Elizabeth and her son Charles on the Buckingham Palace balcony following the Queen's Birthday Parade, the Trooping the Colour, in June 2022

Pictured: The Queen's heartfelt Paddington Bear video, made for the Platinum Jubilee, was enjoyed by many 

King Charles III (wearing his Welsh Guards uniform) watches an RAF flypast from the balcony of Buckingham Palace during Trooping the Colour on June 17, 2023 in London

The Coronation of HM King Charles III and HM Queen Camilla. Charles and Camilla leave Buckingham Palace by carriage to Westminster Abbey on May 6, 2023

'There are a number of key events His Majesty would love to attend coming up in the diary and this is at the top of the list,' a source said.

Dating from the 17th century, Trooping the Colour is one the biggest military ceremonial events of the year, involving more than 1,200 soldiers and musicians plus more than 200 horses.

Usually the monarch rides down from Buckingham Palace to Horse Guards Parade via The Mall to inspect the troops.

The sovereign then rides back to the palace for the traditional balcony appearance with the wider Royal Family and flypast by the RAF.

As it stands, His Majesty has been advised by doctors not to attend events with large public gatherings after being diagnosed with an unspecified form of cancer in January.

He is currently undergoing outpatient treatment in London although he is continuing to work hard behind the scenes on state matters and makes a point of being seen in public or on camera whenever possible.