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Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge, Prince Harry, Kate Middleton

John Stillwell - WPA Pool/Getty Images

Talk about a royal good time.

Prince WilliamKate Middleton, and Prince Harry accompanied Queen Elizabeth II for another Diamond Jubilee celebratory event, floating down the Thames River through London Sunday in a grand pageant fit for, well, a queen.

As they made their way through the water on the Spirit of Chartwell royal barge, which was sprinkled with 10,000 roses, carnations, sweet peas and red charm peonies, according to Peoplethe royal family waved to the nearly million fans that lined the river route.

But, they weren't the only royals in tow.

On a couple of the 1,000(!) other boats that accompanied the ChartwellPrincesses Beatrice and EugeniePrincess Anne and her husband Vice-Admiral Sir Timothy Laurence, and some of the Queen's cousins were also on hand—as were Kate's parents, her sister Pippa and brother James

And the family made sure to dress for the occasion.

While Prince William sported his RAF Flight Lieutenant No. 1 Dress uniform and Prince Harry wore his No. 1 Ceremonial Dress of the Blues and Royals, Kate looked stunning in a red Alexander McQueen dress and jacket paired with a matching fascinator. 

The 86-year-old Queen also made a fashion statement, wearing a silver and white dress and matching hat.