Queen makes second Buckingham Palace balcony appearance to close out Platinum Jubilee celebrations

Queen Elizabeth has made a special second appearance on the balcony at Buckingham Palace to celebrate her Platinum Jubilee.

Her Majesty, joined by future heirs Prince Charles, Prince William and young Prince George, appeared on the Buckingham Palace balcony after the People's Pageant on Sunday (early Monday AEST).

Future Queen Consorts Camilla, Duchess of Cornwall and Kate, the Duchess of Cambridge also joined the monarch, along with Princess Charlotte and Prince Louis.

READ MORE: Cambridge kids bake treats with Kate in Kensington Palace kitchen

Waving to thank the gathered crowds, Her Majesty closed out four days of celebrations of her history-making 70-year reign.

Dressed in a vibrant green coat dress and hat, the monarch walked out onto the famous balcony with a walking stick, as she did during Trooping the Colour on the first day of jubilee celebrations on Thursday.

READ MORE: Prince Charles and Camilla toast the Queen as they lead Big Jubilee Lunch celebrations

After experiencing "some discomfort" on the big first day, Her Majesty pulled out of attending both the Service of Thanksgiving at St Paul's Cathedral on Friday and the Epsom Derby races on Saturday.

Before the four-day weekend kicked off, it was rumoured Her Majesty would make an appearance following the pageant.

However, following the monarch's decision to stay home for much of the weekend, it was not known if she would return to the celebrations until Sunday afternoon.

While the Queen didn't watch the parade from the royal box, the crowd was alerted to the 96-year-old's arrival when the royal standard flag went up over Buckingham Palace.

After stealing the show with his facial expressions during Trooping the Colour on Thursday, Prince Louis was back at it again on Sunday as he watched the People's Pageant.

Little Louis was front row in the royal box alongside older siblings Prince George and Princess Charlotte, accompanied by their parents.

Again, the four-year-old pulled a series of funny faces with his mum having a gentle word to him at one point.

The youngest of the Cambridge kids was spotted dancing and went to sit on his dad and his grandfather's lap at various points.

Two of the monarch's children, Prince Charles and Princess Anne, represented the Queen in the royal box during the pageant.

The Prince of Wales and Princess Royal watched on with their spouses Camilla, Duchess of Cornwall, and Sir Timothy Laurence.

Princess Anne's daughter, Zara Tindall, was there with her husband Mike Tindall and their two daughters, Mia, eight, and Lena, three. Their younger brother Lucas, 16 months, appeared to have stayed at home.

Mike appeared to jokingly tell Louis he was keeping an eye on him as they chatted before the pageant kicked off.

Zara's brother Peter Philips was also there with a date, believed to be the new girlfriend who accompanied him to the Epsom Derby on Saturday.

He was also joined by his daughters, Savannah, 11, and Isla, 10, were in attendance.

Prince Edward and Sophie, Countess of Wessex, were at another engagement in Windsor and missing from the royal box.

Prince Harry and Meghan Markle were also absent from the celebrations, as they skipped another of the jubilee events.

While Prince Andrew wasn't at the festivities after testing positive to COVID-19, his two daughters, Princess Beatrice and Princess Eugenie, enjoyed the pageant from the royal box.

The sisters had carried out a rare joint engagement earlier in the day for the Big Jubilee Lunch initiative at at Paddington Recreation Ground before heading over to Buckingham Palace.

They were seen taking their seats in the royal box with their husbands, Edo Mapelli-Mozzi and Jack Brooksbank, joining them.

Edo was seen holding his six-year-old son Wolfie's hand as they made their way to their seats, marking Princess Beatrice's stepson's first royal outing.

The occasion also marked Princess Eugenie's son August's first royal event, giving fans their first proper look at the 16-month-old.

The People's Pageant involved 10,000 subjects from the UK and across the Commonwealth in a four-act parade.

It included 2750 military personnel, more than 6000 volunteers, performers, key workers, and 2500 members of the general public.

Ed Sheeran performed his song 'Perfect' in tribute to Her Majesty as the finale of the history-making pageant, which it's estimated was watched by one billion people around the world across multiple platforms, including a live TV broadcast.

Hundreds of celebrities and "national treasures" also took part in the pageant, including: Bear Grylls, Idris Elba, Torvill & Dean, Sir Cliff Richard, Kate Garraway, Bridgerton's Phoebe Dynevor, celebrity chefs Rick Stein and Heston Blumenthal, Twiggy, Joan Collins and Jeremy Irons, just to name a few.

They appeared at the top of double-decker busses themed for each decade of Her Majesty's reign.

While the Queen wasn't there in person, she did make an appearance in the pageant — in the Gold State Coach via hologram.

The image was of the monarch on her Coronation Day on June 2, 1953.

The coach made its first public royal appearance on the Mall in almost 20 years as part of the parade.

The colourful procession will cover a three-kilometre route, echoing Her Majesty's coronation 70 years earlier, taking in the Mall up to Buckingham Palace. It will bring to life memorable moments from the Queen's reign, and showcase how society has changed over the past 70 years.