Sophie, King Charles and Queen Camilla prepare for Trooping the Colour in candid behind-the-scenes video released by Buckingham Palace

A video released today shows King Charles, Queen Camilla and other members of the monarchy prepare for Trooping the Colour, allowing royal fans to peak behind the curtain. In an exclusive clip released by Buckingham Palace, King Charles and Queen Camilla can be seen readying themselves in the final moments before their horse-drawn carriage leaves. King Charles and Queen Camilla readying themselves in the final moments before their horse-drawn carriage leaves Buckingham Palace Sophie, the Duchess of Edinburgh, smiles nervously as Prince Edward, Duke of Kent, peers round the side of the carriage Princess Anne, known for her no-nonsense nature, captured practicing on her horse ahead of the ceremony Prince Richard, the Duke of Gloucester, and his Dutch-born wife Birgitte, Duchess of Gloucester, are seen smiling in the video as they await their horse-drawn carriage. Prince Richard, the Duke of Gloucester, and his Dutch-born wife Birgitte, Duchess of Gloucester, are seen smiling in the video as they await their horse-drawn carriage In a gentle scene, the older siblings Princess Charlotte, 9, and Prince George, 10, can be seen waiting nervously in the doorway as Kate quietly smooths her daughter's locks Then, as royals walk in synchronized steps towards their seats Charlotte seems to take a deep breath, while Kate tenderly takes her hand The moment was captured as the family waited for their carriage to arrive - with the drivers graciously doffing their hats as they pulled in Beaming Princess Charlotte couldn't help but smile as she appeared alongside her brother Prince George at today's Trooping the Colour Kate beams as she accompanies her children in a carriage during today's procession Prince Louis pulls a face at the crowd as Princess Charlotte looks regal as they join the parade Another snap of the popular young Prince showed him grimacing as he rode to Buckingham Palace Kate smiles as she passes the cheering crowds Kate arrives with Princess Charlotte and Prince George at Horse Guards Parade today The youngest of the Wales children, who is loved by many royal fans thanks to his expressive behaviour, appeared less than thrilled during the carriage ride. Prince George and Princess Charlotte smile with their mother Catherine, Princess of Wales The Wales Family wave to the crowds gathered at Buckingham Palace The Princess of Wales leaned over to speak to the King, who laughed at something she said To mark the news Kensington Palace released a stunning new portrait of Catherine taken at Windsor this week In her message the Princess says she has been 'blown away' by all the kind messages of support and encouragement over the last couple of months.