Queen salutes 1,000-boat flotilla
3 June 2012 Last updated at 23:49 BST
Despite the pouring rain, thousands of people turned out to witness the Diamond Jubilee Pageant, the biggest spectacle on the river Thames for more than 300 years.
Vessels completed a seven-mile long voyage down the river to Tower Bridge.
The Queen and her family, on the royal barge the Spirit of Chartwell, were cheered on by those lining the banks.
The BBC's Nicholas Witchell reports.