The mother and daughter appeared at the annual event decked out in coordinated aquamarine outfits, with the Princess of Wales clad in a brightly colored coat-dress and matching hat, alongside 10-year-old Charlotte in a more muted, minty shade.

The Princess of Wales and her daughter looked picture perfect in light blue as they shared a sweet mommy-daughter moment in one of the royal carriages.

After arriving at Buckingham Palace by car, Kate and the children, Prince George, 11, Princess Charlotte and Prince Louis, 7, traveled in a traditional horse-drawn carriage down The Mall. Charlotte sat beside her mother, while her brothers faced backward across from them.