Queen Elizabeth leads the British royal family at the Order of the Garter ceremony in Windsor

One month after Prince Harry and Meghan Markle's royal wedding, the British royal family returned to St George's Chapel at Windsor Castle for one of the main royal events of June – the annual Order of the Garter Ceremony, which dates back to the 14th century. Queen Elizabeth II led a royal lineup which included Prince William – made a knight by the order of chivalry back in 2008 – as well Prince Charles, Camilla, Duchess of Cornwall and Prince Edward with Sophie Wessex. Scroll through for a roundup of the grand gathering at Windsor Castle.Queen Elizabeth II arrived by car to attend the Most Noble Order of the Garter Ceremony at St George's Chapel, Windsor Castle on June 18. The Order of the Garter is the oldest and most senior Order of Chivalry in Britain, established by King Edward III nearly 700 years ago. Photo: IAN VOGLER/AFP/Getty Images

There are only 24 knights and ladies of the Order at any given time, plus the monarch and the Prince of Wales. Here, Prince Charles, the Prince of Wales, is seen marching in the traditional procession with son Prince William, who is celebrating his tenth year as a knight.Photo: Chris Jackson/Getty Images

Supporting husband Prince Charles was Camilla, the Duchess of Cornwall, who wore a white dress and lace jacket for the occasion. The royal topped her ensemble with a summery black and white hat. Photo: BEN STANSALL/AFP/Getty Images

Joining Duchess Camilla was Sophie, the Countess of Wessex. Prince Edward's wife wore a 1950s-inspired print dress, pink shoes and a feathered hat to match.The Duchess of Cambridge, who has only attended Garter Day five times in the past decade, did not accompany husband Prince William to the occasion.Photo: Getty Images

Princess Anne, the Queen's only daughter, was appointed to the Order of the Garter in 1994. Here, the 67-year-old is seen making her arrival in the traditional costume of the Order, which has as its motto: Honi soit qui mal y pense – "Shame on him who thinks this evil".Photo: Getty Images

All four of the Queen's children attended the Windsor ceremony. Here, Prince Andrew, left, and Prince Edward are seen wearing the traditional blue velvet robe and feathered Tudor bonnet. The Duke of York and the Earl of Wessex were both appointed to the Order in 2006.Photo: Getty Images

With two young assistants holding the train of Her Majesty's cape, the Queen made her way down the steps of St George's Chapel. Behind the monarch are her daughters-in-law the Duchess of Cornwall and Sophie Wessex.Photo: Getty Images

Under the Windsor sunshine, the Queen took a ride in her second vehicle of the day – this time an open-topped horse-drawn carriage. The monarch was accompanied by daughter-in-law Camilla, the Duchess of Cornwall. Photo: Getty Images

The Duke and Duchess of Kent also took part in the procession outside Windsor Castle. While the Order dates back to 1348, the formal ceremony was revived by Queen Elizabeth's father King George VI in 1948.Photo: Chris Jackson/Getty Images