Four days of Diamond Jubilee events have culminated in an appearance by the Queen on the Buckingham Palace balcony in front of huge crowds.
There was also a flypast by World War II aircraft and the Red Arrows.
The Queen had earlier attended a service at St Paul's Cathedral where the Archbishop of Canterbury praised her "lifelong dedication".
But her consort, Prince Philip, has been absent from her side as he remains in hospital with a bladder infection.
The Earl and Countess of Wessex visited the Duke of Edinburgh on Tuesday afternoon .
Afterwards, Prince Edward said: "He's feeling better." The countess added: "He's in good spirits; he's on good form."
The Queen has recorded a two-minute message of thanks to the nation which will be broadcast at 1800 BST on radio and television in the UK and across the Commonwealth.
'God save the Queen'
Crowds built up from early morning outside St Paul's and Buckingham Palace.
There was a fanfare as Her Majesty, wearing a mint green outfit of fine silk tulle, embroidered with tiny star-shaped flowers, arrived at St Paul's for the service at 10:30 BST and the crowds chanted "God save the Queen".
Prime Minister David Cameron, who gave a reading, led the large representation from the government, military personnel and members of the royal household, at St Paul's alongside diplomats and foreign leaders.
Following the service at St Paul's, the Queen attended a reception at nearby Mansion House - the official residence of the Lord Mayor of London.
The Prince of Wales and Duchess of Cornwall, the Duke and Duchess of Cambridge and Prince Harry were at a similar event at the Guildhall.
All of the senior royals then moved on through crowd-lined streets to a lunch at Westminster Hall where they dined on salmon, followed by Welsh lamb, grilled Isle of Wight asparagus, Jersey Royal potatoes and chocolate delice, bread and butter pudding and berry compote with apple sauce.
The Queen travelled in an open-topped coach with the Prince of Wales and the Duchess of Cornwall back to Buckingham Palace.
Princes William and Harry and the Duchess of Cambridge followed in a second coach.
They were led along The Mall by soldiers from the Household Cavalry Mounted Regiment, and the King's Troop, Royal Horse Artillery, then fired a 60-gun salute.
The day culminated with an appearance by the Queen and other senior royals on the balcony for the flypast, which had been in doubt due to the threat of bad weather.
The BBC's Gerry Holt, on The Mall, said the deafening sound of the flypast drowned out the crowd's cheers. She said that after the Red Arrows had passed overhead there were cries from youngsters of "The sky's turned red, white and blue!"
BBC royal correspondent Peter Hunt said the choice to have only six members of the Royal Family - the Queen, Prince Charles, the Duchess of Cornwall, Princes William and Harry and the Duchess of Cambridge - sent a message demonstrating both continuity and restraint at a time of austerity.
Among other Jubilee news:
- The Archbishop of Canterbury praised the Queen for dedicating herself to the service of her nation and the Commonwealth . He said the Queen had put aside "selfish goals" and dedicated herself to public service, honouring countless communities and individuals and referred to Prince Philip, saying "our prayers and thoughts are very much with him"
- US President Barack Obama also paid tribute to the Queen, calling her "a steadfast ally, loyal friend and tireless leader" . He said that throughout her "60 extraordinary years" she had been "a loyal witness" to the unique alliance between his country and the UK "and the chief source of its resilience"
- Ministers are being urged to look into reports that unemployed people hired as unpaid stewards for the Diamond Jubilee pageant ended up having to sleep outside and change in the rain
- Southampton is hosting a Diamond Jubilee celebration involving Cunard cruise ships the Queen Mary 2, Queen Elizabeth and Queen Victoria but a display from the Red Arrows has been cancelled as a result of poor weather
Other highlights of the Jubilee weekend included a star-studded concert outside Buckingham Palace on Monday night.
At the show, Prince Charles paid tribute to his mother, describing her as "mummy" and a "very special person" but said there was disappointing edge to the night because his father could not be there.
Afterwards the Queen came on to the stage to press a diamond-shaped crystal into a pod, igniting a beacon in The Mall to mark her 60 years on the throne. It was one of more than 4,000 lit across the UK and the Commonwealth.
See all the latest Diamond Jubilee news and features at bbc.co.uk/diamondjubilee