All the best videos from Trooping the Colour: Kate's great comeback, glimpses behind the scenes and Charlotte and Louis acting up

It was certainly a birthday to remember for King Charles as he attended his first Trooping the Colour since his cancer diagnosis.

It was also a special day for the Princess of Wales as she made a triumphant return to public life amid her cancer treatment. 

As expected the day's events were full of heartwarming moments from Kate leading her children in incredible behind-the-scenes footage of the event to Princess Charlotte and Prince Louis messing around with one another. 

Here MailOnline looks back at some of the most memorable moments from today's magical event.  

Behind the scenes of the Trooping the Colour 

This is the sweet moment Kate strokes Charlotte's hair and guides her forward in behind-the-scenes footage of the Trooping the Colour.

In a gentle scene, the older siblings Princess Charlotte, 9, and Prince George, 10, can be seen waiting nervously in the doorway as Kate quietly smooths her daughter's locks.

Charlotte can be seen anxiously moving around as she clasps her hands in front of her, and she quietly says a few words to her mother while watching the carriage approach.

Then, as the royals walk in synchronized steps towards their seats Charlotte seems to take a deep breath, while Kate tenderly takes her hand.

And steadied by her family, as she waits in the carriage to set off, she can be seen smiling happily through the window as they chat together in the coach.

Louis - who appears to have no such nerves - is laid back as he leans casually against the wall, wearing shorts and a smart jacket.

This is the sweet moment Kate strokes Charlotte's hair and guides her forward in behind-the-scenes footage of the Trooping the Colour

Louis is laid back as he leans casually against the wall, wearing shorts and a smart jacket

Prince Louis left unimpressed

Prince Louis was left unimpressed by the Trooping the Colour ceremony today as he stole the show once again with his expressive behaviour. 

The young royal was caught on camera scrunching up his face, while Kate appeared to crouch down to have a word with her son on a balcony on Horse Guards Parade.

The Prince and Princess of Wales' youngest child, was also captured yawning at the event, which usually consists of more than 1,400 parading soldiers, 200 horses, 400 musicians and a flyover of 70 aircraft.

At one point, the cheeky six-year-old Prince was even caught tugging on the cord for the blinds as he chatted to his mother.

Louis, who was wearing a double breasted blazer, a pair of shorts, a crisp shirt and a tie, could not hide his facial expressions - much to the enjoyment of royal fans.

He even attempted to try and open the window on the balcony next to the Duchess of Edinburgh, gripping the frame as he tried to pull it up.

Princess Charlotte tells Louis to stop dancing

Princess Charlotte appeared to take her role as the older sister very seriously today as she told her younger brother Prince Louis off, not once, but twice.

Taking charge, the royal, nine, ordered cheeky Louis to stand up straight on the Buckingham Palace balcony, as the family gathered to watch the flypast at the annual event.

The six-year-old Prince, known for stealing the limelight at large royal events, was stood on the platform in front of thousands of fans and well-wishers with his arms slightly scrunched ahead of the national anthem. 

His older sibling then said: 'Louis put your hands down,' according to lipreader Juliet Sullivan, before she tapped his shoulder to get his attention.

Louis then scrunched up his face before placing his hands down by his side and standing up straight to prepare for the national anthem.

Princess Charlotte appeared to take her role as the older sister very seriously today as she told her younger brother Prince Louis off, not once, but twice 

Princess Charlotte asks Louis to stand up straight

Earlier in the day, the prince was once again told off by his sister as she ordered him to 'stop' his dancing, whilst standing at a window in the Horse Guards building, so they could watch King Charles inspecting the troops outside. 

As the siblings waited by the window with their mother, the youngest royal started swaying his hips, much to the apparent chagrin of his older sister.

Charlotte, who has been seen issuing instructions to her brothers during previous royal events, appeared to tell her sibling to 'stop dancing'.

However, the young prince appeared unmoved by the command, and continued with his dancing.

Meanwhile, their mother the Princess of Wales appeared to smile while watching the interaction between her children, before she regained her previous, more serious demeanor.

Earlier in the day, the prince was told off by his sister as she ordered him to 'stop' his dancing, whilst standing at a window in the Horse Guards building

Soldier proposes in front of cheering crowds 

In one truly unexpected moment a soldier taking part in the procession today was seen proposing to his girlfriend outside Buckingham Palace. 

The soldier, all dressed in military uniform including a hat and white gloves, was captured embracing his now fiancée after popping the question.

No sooner had he kissed his partner, he was forced to sprint off to play his role in the King's official birthday parade.

His astonished and delighted girlfriend gasped: 'Oh my God!' as he then quickly placed a ring onto her finger and said 'I love you'.

He was then heard asking 'Does it fit?' as his fiancée slipped on the engagement band.

But after taking a moment to hug his future wife, the serviceman said he needed to make a dash for the royal parade.

Beckoning towards the palace, he quipped: 'Right, I've got to get into the Palace. The King's going to be waiting.'

In one truly unexpected moment a soldier taking part in the procession today was seen proposing to his girlfriend outside Buckingham Palace

Kate joins Charles on the Buckingham Palace balcony

The Princess of Wales and King Charles were reunited on the Buckingham Palace balcony today for the first time since they both began cancer treatment.

Kate joined members of the Royal Family to watch a spectacular flypast by the RAF as she made a triumphant return to public life at Trooping the Colour.

And in a sweet gesture from the monarch, Kate stood next to Charles - a change from last year's arrangement when her husband Prince William was next to him.

The flypast began as senior royals came out onto the balcony - with Charles and Camilla followed by Kate and William and their children George, Charlotte and Louis. Kate then leant over to speak to Charles, who laughed at something she said.

They were joined by the Duke and Duchess of Edinburgh, with the family smiling and waving to crowds before standing proudly as the national anthem was played.

Kate joined members of the Royal Family to watch a spectacular flypast by the RAF as she made a triumphant return to public life at Trooping the Colour

Kate joins her three children in horse-drawn carriage 

Kate looked in good spirits as she joined her children inside the royal carriage as they took part in the Trooping the Colour today. 

The royal was on hand to ensure George, Charlotte and Louis enjoyed the family day out to celebrate their grandfather's birthday - with her presence meaning they didn't have to travel in the carriage without one of their parents.

Prince William took part in the parade on horseback, while his children appeared alongside their mother in a carriage.

Louis, six appeared less than thrilled during the ride, at one point knitting his brows as he stared out of the window, open-mouthed. 

Another snap of the young prince showed him frowning, with his mouth downturned.

Meanwhile, George appeared typically composed, while Charlotte was snapped beaming as she looked out of the carriage window at the assembled crowds.

Kate looked in good spirits as she joined her children inside the royal carriage as they took part in the Trooping the Colour today. The royal was on hand to ensure George, Charlotte and Louis enjoyed the family day out to celebrate their grandfather's birthday

King Charles salutes soldiers

King Charles looked thrilled as gave the royal salute in his first Trooping the Colour since his cancer diagnosis today.

Wearing the tunic of the Guard of Honour Order, the Irish Guards, the monarch saluted the soldiers as he watched from the window of his carriage.

As per tradition, his uniform bore his predecessor's cypher - that of the Queen. 

The couple were later seen standing on Horse Guards Parade as more troops marched past, with the pair receiving the soldiers' salute as the stunning display played out in central London.

King Charles looked thrilled as gave the royal salute in his first Trooping the Colour since his cancer diagnosis today

Army shares behind the scenes preparations

Earlier today The Army shared a sneak peek into the behind the scenes preparation for the King's birthday. 

Footage showed a group of soldiers trying on their bearskin hats and bright red uniforms in anticipation of the Trooping the Colour procession. 

More than 1,250 soldiers, and hundreds of Guardsmen braved the wet weather as they lined up on the parade ground waiting to be inspected by King Charles from his carriage with Queen Camilla. 

The members of the Irish Guards, the colour, or regimental flag, that was trooped today to mark Charles' 75th birthday. 

Around 8,000 spouses, girlfriends and parents of the guardsmen and officers on parade were in the crowds as they procession got underway at 10am today. 

Earlier today The Army shared a sneak peek into the behind the scenes preparation for the King's birthday. Footage showed a group of soldiers trying on their bearskin hats and bright red uniforms in anticipation of the Trooping the Colour procession

Princess Anne attends on horseback 

Princess Anne, the Princess Royal joined Prince William and the Duke of Edinburgh as they took part in today's the parade on horseback. 

The King's sister, who is often regarded as the 'hardest working royal', looked relaxed as she celebrated the annual event with her family. 

Anne was described as riding 'his kernel of the regiment' as she sat proudly in her military uniform and red feathered hat.

Charles would have joined the trio on horseback as he did last year but because of his illness he rode in a carriage with the Queen.