King Charles and Queen Camilla led the royal family's walk for the third year, which saw them greeting members of the public on their way to the church.
The outing came after an especially rough year for the family, as both Charles and Kate battled cancer, and Camilla had recently missed several engagements due to pneumonia.
Prince William has previously described the annual walk as an event he had 'strong memories' of, reflecting the importance of tradition in the royal family.
Notably, Prince Harry and Meghan Markle, as well as their two children, Prince Archie and Princess Lilibet, were absent from this year's festivities.
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