The Queen, Prince Philip and other members of the royal family were on a specially commissioned Royal Barge - The Spirit of Chartwell.
As the royal barge passed the Royal Festival Hall there was a brief appearance of the War Horse which delighted the royals.
The Queen, who stood the whole time of the pageant, looked like she enjoyed it all.
Monday night there was an amazing concert outside Buckingham Palace. Tuesday there was a service at St Pauls Cathedral followed by an appearance by the Queen and the royal family on the balcony at Buckingham Palace.