Prince William and Kate Middleton's family is celebrating a milestone after a few difficult months.

As the Princess of Wales continues to undergo her cancer treatment, she made her first public appearance in six months at the June 15 Trooping the Colour ceremony, along with her and William's children Prince George, 10, Princess Charlotte, 9, and Prince Louis, 6.

For the occasion, Kate wore a black-and-white Jenny Packham dress paired with a Philip Treacy hat.

The family was joined at the event—which celebrates King Charles III's birthday—by Princess Anne and Prince Edward, who rode on horseback with Prince William during the parade.

The annual Trooping of the Colour sees all the House Guards troop their colors in honor of the sovereign's birthday, and was an optimal time for Kate to return to the public eye. After all, her Royal Highness was named Colonel of the Irish Guards in 2023, which she has previously described as a "great honour."

And royal fans have been anticipating the 42-year-old's big return since she confirmed her attendance June 14. 

"I'm looking forward to attending The King's Birthday Parade this weekend with my family and hope to join a few public engagements over the summer," Kate shared in a message shared to Instagram. "But equally knowing I am not out of the woods yet."

Kate, who first detailed her cancer diagnosis in March, also admitted that her public appearances may continue to be rare for a while. 

"I am making good progress, but as anyone going through chemotherapy will know, there are good days and bad days," she acknowledged. "On those bad days you feel weak, tired and you have to give in to your body resting. But on the good days, when you feel stronger, you want to make the most of feeling well."

Naturally, the philanthropist ensured she will be making her royal duties a priority on the days she is feeling well enough to do so. 

"It is a joy to engage with school life, spend personal time on the things that give me energy and positivity, as well as starting to do a little work from home," she shared while thanking her supporters adding, "It really has made the world of difference to William and me and has helped us both through some of the harder times."

Keep reading for all of the photos from Trooping the Colour 2024...

Kate Middleton, Prince William, Prince George, Prince Louis and Princess Charlotte joined the royal family at Buckingham Palace for Trooping the Colour, which honors King Charles III's birthday. 

The monarch was accompanied in a carriage by his wife, Queen Camilla. 

Kate and her kids also rode in a carriage to kick off the celebration.

Prince George, 10, and Princess Charlotte, 9, waved to royal fans.

Prince Louis, 6, spotted in his signature style.

The Princess of Wales, who's been undergoing a course of preventative chemotherapy, sat beside her youngest child during their carriage ride.

Prince William was joined by Princess Anne and Prince Edward as they rode on horseback.

The event marked Kate's first formal appearance in six months.