Royals attend Windsor Easter Sunday service
As they walked, Princess Charlotte waved to the crowds of people watching on from behind barriers. The Wales' missed the service last year as they decided to go on a family holiday to Norfolk, and skipped the year before as it came shortly after Catherine's cancer diagnosis.
The King and Queen arrived last and one onlooker was heard shouting "God bless the King".
As they left the chapel, the King and Queen shook the hands of the public, wishing them a happy Easter.
The Queen remarked that the service was "good" when asked how it was.
The service is seen as a traditional family event as opposed to an official engagement.
On Thursday, the King and Queen attended the traditional Maundy service at Denbighshire in Wales. That event commemorates the Last Supper and the importance of humility and service to others.
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