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Highlights from the Diamond Jubilee concert

5 June 2012 Last updated at 00:44 BST

Artists including Sir Paul McCartney, Stevie Wonder and Robbie Williams have performed for the Queen at the Diamond Jubilee concert outside Buckingham Palace.

The Queen, dressed in a black cloak, was helped to her seat by Prince Charles at 21:00 BST, when she joined concert-goers an hour-and-a-half into the celebration.

The concert was brought to a close by Sir Paul McCartney who played hits including Magical Mystery Tour, Let It Be and a spectacular rendition of Live and Let Die, complete with fireworks and explosions.