Queen Elizabeth’s Platinum Jubilee celebrations begin. Kate Middleton, Camilla attend parade

Queen Elizabeth's Platinum Jubilee celebrations began with the Trooping the Colour military parade in central London on Thursday.

Tens of thousands of royal supporters lined the streets of London on Thursday to celebrate Queen Elizabeth's Platinum Jubilee and kick off four days of pomp, parties and parades to mark her record-breaking 70 years on the British throne.

Millions of people across Britain and the world are expected to join the festivities in honour of the 96-year-old, who has reigned for longer than any of her predecessors, the government said. The celebrations begin with the Trooping the Colour military parade in central London, and for the first time Elizabeth will take the salute from the 1,500 soldiers and officers from the balcony of Buckingham Palace.

In brilliant sunshine, families and friends gathered on the main grand roads running up to Buckingham Palace, cheering the regimental marching bands, waving Union flags and wearing paper crowns. Many had slept on the streets to secure a good position.

The view from the roof#PlatinumJubilee pic.twitter.com/VhRU0gXey3

The arrival of the first senior royals in a carriage - Kate Middleton, the wife of Prince William, her three young children and Camilla, the wife of heir to the throne Prince Charles - were met with loud cheers.

Members of The Royal Family arrive at Horse Guards Parade travelling in carriages pulled by horses from the Royal Mews.The Duchess of Cornwall, The Duchess of Cambridge, Prince George, Princess Charlotte and Prince Louis travel in a barouche pulled by horses Shamus & St Ives. pic.twitter.com/6Y34iLOyPc

Charles, son William and the queen's daughter Anne arrived on horseback.