Queen Elizabeth II on Sunday stepped out on Buckingham Palace balcony making her first public appearance since the first day of her four-day Platinum Jubilee weekend.

It was the first time the 96-year-old monarch has been seen publicly seen Thursday when she lit a beacon at Windsor Castle.

The Queen, who was dressed in green, was joined by Prince Charles, the Duchess of Cornwall, the Duke and Duchess of Cambridge, Prince George, Princess Charlotte and Prince Louis.

She smiled and waved to crowds before heading back inside the palace. 

The Queen has been hampered by ongoing mobility problems which forced her to miss a number of celebrations this weekend.

(With input from agencies)