Queen Elizabeth II waves from palace balcony to mark end of platinum jubilee celebrations

Guided to Buckingham Palace’s balcony by Prince Charles, the Queen closed celebrations with one last brief appearance

Queen Elizabeth II, 96, stepped on to the balcony at Buckingham Palace to bring her historic platinum celebrations to a close with a brief final appearance.

Filled with poignancy, it was a moment for the history books, as the frail one-of-a-kind monarch, resplendent in vivid green, bid farewell to the vast crowds from the palace.

As the monarch walked slowly and careful on to the famous frontage, Prince Charles placed his hand on his mother’s elbow, guiding her as she used her walking stick.

The queen wore a Stewart Parvin outfit — a vibrant green double crepe wool dress and coat, adorned with the Bow Brooch.

She teamed it with a Rachel Trevor-Morgan hat with a black pom-pom.

Her 70-year milestone is unlikely to ever be repeated and tens of thousands crammed into The Mall to take their chance to serenade their sovereign with the British national anthem in unison.

Flanked by her three heirs — son, grandson and great-grandson — it offered a glimpse into the monarchy’s future.

She shared the stage with just seven of her family — the Prince of Wales, Prince William and Prince George, as well as two future Queens — Camilla, Duchess of Cornwall and Kate, Duchess of Cambridge — and Princess Charlotte and Prince Louis.

As the anthem was sung, the Queen surveyed the scenes before her, deep in thought.

Then with smiles and a few waves of her white-gloved hands, she turned and was gone, back through the doors, achieving her aim of being seen to be believed in less than three minutes.

The Prince of Wales and his wife Camilla during the Big Jubilee Lunch, with tables set up on the pitch at The Oval cricket ground in London on day four of the platinum jubilee celebrations. PA

People set up tables for the Big Jubilee Lunch on The Long Walk in Windsor. Millions of people are expected to attend 'Big Jubilee Lunch' picnics as the long weekend of festivities to honour the queen's platinum jubilee concludes. AFP

Camilla, Duchess of Cornwall, arrives for the Big Jubilee Lunch at The Oval cricket ground. AP Photo

People gather for the Big Jubilee Lunch on The Long Walk in Windsor. AFP

Britain's Princess Beatrice, centre, and Princess Eugenie are presented with flowers as they arrive at the Big Jubilee Lunch organised by Westminster Council for local volunteer and community groups. AP Photo

Participants pose for a picture with a cardboard cut-out of the queen on The Long Walk in Windsor. AFP

A reveller arrives to attend a street party in Ashby-de-la-Zouch in central England as part of the platinum jubilee celebrations. AFP

Prince Charles looks at decorations at The Oval cricket ground. Reuters

A picnic table is decorated with cut-outs depicting Britain's Queen Elizabeth in Windsor. Reuters

People dance at Blackpool Tower Ballroom during the platinum jubilee celebrations. Reuters

A woman celebrating ahead of the Big Jubilee Lunch on The Long Walk in Windsor. AFP

A man dressed as a king hangs decorations as he takes part in the Big Jubilee Lunch in Windsor. Reuters

Spectators cross the Mall before the Platinum Jubilee Pageant in front of Buckingham Palace on day four of the celebrations. PA

Balloons are hung ahead of the Big Jubilee Lunch on The Long Walk in Windsor. AFP

People pose for selfies on the Mall ahead of the start of the Platinum Jubilee Pageant in front of Buckingham Palace. PA

Performers dressed as farm animals parade during the Platinum Pageant in London. EPA

Performers on the 1960s bus take part in the Platinum Pageant. AFP

Performers take part in the Platinum Pageant in London as part of Queen Elizabeth II's platinum jubilee celebrations. AFP

Former Olympic swimmer Duncan Goodhew and opera singer Katherine Jenkins arrive at the pageant. PA

Performers in the pageant. AFP

TV presenter Timmy Mallett at the pageant. PA

TV presenters John Craven, Chris Tarrant and Johnny Ball at the pageant. PA

A participant prepares for the pageant. PA

Sir Cliff Richard climbs onboard the 1950s bus at Horse Guards Parade for the pageant. PA

People take part in a parade during the pageant. Getty

Prince Louis sat on the knee of his grandfather the Prince of Wales during the pageant. PA

Naomi Campbell and Kanya King on a bus as part of the pageant. Getty

Princess Charlotte, Prince George and their father Prince William enjoy the pageant. PA

Members of the public watch the pageant in Westminster, London. PA

Revellers celebrate near Windsor Castle, Britain. EPA

Catherine, Duchess of Cambridge, and her son Prince George. AFP

Model Kate Moss and actress Patsy Kensit during the Platinum Jubilee Pageant outside Buckingham Palace. AP

People parade during the pageant. AP

Girls climb a street sign for a better view of the parade in London. PA

A cut out of Queen Elizabeth II in a window near Windsor Castle. EPA

Performers from Edinburgh Festival Carnival entertain the crowds in Princess Street Gardens in Edinburgh, Scotland, during a platinum jubilee event. PA

Children enjoy a street party in Edinburgh. PA

Actress Joan Collins at the London pageant. EPA

People take part in The Big Lunch on the Long Walk, Windsor Castle. EPA

A woman participates in the Windsor Castle event. EPA

Vintage cars in front of Buckingham Palace during the London pageant. PA

Singer Katherine Jenkins at the pageant. AFP

A dog wearing a crown at the Big Jubilee Lunch in Windsor. Getty

People parade during the Platinum Jubilee Pageant outside Buckingham Palace in London. AP Photo

Prince Edward, and his wife Sophie, Countess of Wessex, pose for a photo with attendees of the Big Jubilee Lunch in Windsor. AFP

A hologram of Britain's Queen Elizabeth II is projected on the Gold State Coach during the pageant in London. AFP

Immediately after the event, Queen Elizabeth issued a written message about the four days of celebrations, saying: “When it comes to how to mark 70 years as your Queen, there is no guidebook to follow. It really is a first. But I have been humbled and deeply touched that so many people have taken to the streets to celebrate my platinum jubilee.

“While I may not have attended every event in person, my heart has been with you all; and I remain committed to serving you to the best of my ability, supported by my family.

“I have been inspired by the kindness, joy and kinship that has been so evident in recent days, and I hope this renewed sense of togetherness will be felt for many years to come.

“I thank you most sincerely for your good wishes and for the part you have all played in these happy celebrations.”

She signed off her message with the signature Elizabeth R.

The queen served as the uniting focal point for the four days of festivities — glowing tributes were paid, her image projected on to the palace and prayers said.

But in reality, it was a jubilee without its leading lady for much of the time, unsurprising given her age and her mobility difficulties, as she missed the thanksgiving service, the Epsom Derby and the pop concert.

Queen Elizabeth was on public view in person for just over 27 minutes throughout the weekend.

Her sanctuary as she rested was Windsor Castle, where, her granddaughter Zara Tindall said, she watched the Epsom Derby in her “comfy clothes”.

But her presence was felt large — and the pre-recorded comedy sketch with Paddington Bear shed fresh light on her humour and love of fun.

With the monarch confessing to not being able to move, observers will be questioning whether Elizabeth II will be asked to take to the balcony again as she continues with her lifelong pledge to serve.

Previously unseen videos from Queen Elizabeth II's personal archive have been released, showing touching glimpses of “the fun behind the formality” of her royal life. Here Princess Margaret and then Princess Elizabeth pose with their father King George VI, on board the 'HMS Vanguard', in 1947. All photos: BBC/PA

Princess Elizabeth showing off her new engagement ring soon after Prince Philip's marriage proposal at Balmoral, in 1946.

Princess Elizabeth and Princess Margaret at Balmoral in 1939.

Princess Elizabeth and Princess Margaret at Royal Lodge in Windsor in 1940.

Princess Elizabeth with her father, then Duke of York, in the garden of their home 145 Piccadilly, London, in 1930.

Princess Elizabeth with her uncle Prince George the Duke of Kent at Windsor Castle in 1930.

A 20-year-old Princess Elizabeth enjoys a visit to South Africa in 1947.

Princess Margaret and Princess Elizabeth with their father King George VI at Royal Lodge in Windsor in 1940.

King George VI at Balmoral in August 1939.

Princess Elizabeth with her grandmother Queen Mary.

Princess Elizabeth at Royal Natal National Park during a visit to South Africa in 1947.

Princess Elizabeth at Balmoral in 1946.

Princess Margaret, Princess Elizabeth and Prince Philip at a picnic at Balmoral in 1946.

Brothers Edward, the Prince of Wales, and Prince Albert, the Duke of York.

Princess Elizabeth and Princess Margaret at Balmoral in 1938.

Princess Elizabeth and Princess Margaret travelling to South Africa in 1947.