The event was attended by senior royals including the Queen, Prince Charles and the Duke and Duchess of Cambridge and Prince Harry and his new wife Meghan Markle, now known as the Duke and Duchess of Sussex.
Prince Harry and Meghan Markle, who have just returned from their honeymoon, occupied the second carriage while Princesses Beatrice and Eugenie, the Countess of Wessex and her teenage daughter Lady Louis Windsor rode in the third.
The Queen, who flashed a wide smile after seeing Charles, Andrew and William, as well as Princess Anne ride horseback past her carriage for the procession, was finally able to ditch her sunglasses following a cataract operation three weeks ago.
The parade, which has marked the official birthday of the British Sovereign over 260 years, brings together over 1,400 parading soldiers, 200 horses and 400 musicians.
We wouldn't be surprised if that's really what he said.
Meghan appeared cool calm and collected, but it seems she may have been relying on her reassuring husband.
"It's not a joint thing, it's not her and Harry, it's just her and the Queen so it will give her an unbelievable opportunity to spend time with the Queen in private and in public". Now, a seasoned regular at the ceremony, the 36-year-old's first Trooping the Colour was following her wedding back in 2011.
Huge cheers went up as newly-weds Prince Harry and his wife Meghan made their way to the historic Horse Guards parade ground on a glorious spring day.
Now that their wedding is over, Prince Harry and Meghan Markle, the Duchess of Sussex, are moving on to better things.
For her Trooping debut, the Duchess of Sussex wore a pink Carolina Herrera dress, which featured a Bardot neckline and button detailing down the front.
Given how many rules and traditions the Royal Family are said to adhere to, it's little wonder Meghan still needs some guidance.
Meghan will undertake her first official engagement with the Queen next week when she joins Her Majesty on the royal train for a visit to Cheshire, in north-west England.
Meghan Markle hasn't been part of the Royal family for a long time, so she is definitely still learning about what that means.