Queen Elizabethhas arrived for her birthday parade!

The monarch walked out using a cane, which she has been using regularly since last year to help with her ongoingmobility issues.

This year, the events are slightly different from usual, taking into account the Queen’s mobility difficulties. For the first time, the monarch didn’t take part in the main parade and instead took the salute from the palace balcony.

It is the first time in three years that the monarch has been able to carry out the event at the palace. Trooping the Colour, which is the military parade that marks the British Sovereign’s official birthday, hasn’t taken place in a traditional capacity since 2019 due to the COVID-19 pandemic. Instead, there were pared-back parades in the quadrangle at Windsor Castle.

Queen Elizabeth.Tim Rooke/Shutterstock

The Queen, attends celebration marking her official birthday, during which she inspects troops from the Household Division as they march in Whitehall,

Queen Elizabeth and the Duke of Kent.Tim Rooke/Shutterstock

Queen Elizabeth II Trooping The Colour - The Queen’s Birthday Parade

The Queen will later appear on the palace balcony alongside the senior working members of her family, including Charles, Camilla, Duchess of Corwall,Prince WilliamandKate Middleton. William andKate Middleton’s children,Prince George,Princess CharlotteandPrince Louis, will also join the Queen on the balcony.

Prince Charles and Prince William at Trooping the Colour on June 2.Andrew Matthews/PA Images via Getty Images

The Prince of Wales takes part in the Royal Procession leaves Buckingham Palace for the Trooping the Colour

Missing from the balcony will bePrince Harry,Meghan Markleand Prince Andrew. The Queen announced in April that they would not be included in the balcony appearance because they are no longer working members of the family.

For more on the Queen’s Platinum Jubilee, listen below to our daily podcast PEOPLE Every Day.

Trooping the Colour.Aaron Chown - WPA Pool/Getty Images

The Royal Procession leaves Buckingham Palace for the Trooping Trooping the Colour

Can’t get enough ofPEOPLE’s Royals coverage?Sign up for our free Royals newsletterto get the latest updates onKate Middleton, Meghan Markle and more!

On Friday, the royal family will gather for a National Service of Thanksgiving at St. Paul’s Cathedral and a star-studded pop concert at the palace on Saturday.

Earlier this week, the Queen returned from a short break at her Balmoral estate in Scotland, which she took to help her prepare for the long Jubilee weekend.

source: people.com