The Royal Windsor Horse Show is one of the highlights of the Queen's calendar and takes place within the grounds of Windsor Castle.
Last year's equestrian event went virtual for the first time amid the COVID-19 and it was the first time the monarch missed the show since its launch in 1943.
The Queen looked delighted to be back at the show in July 2021 and was seen driving herself to the event after flying back to Windsor from her Scottish trip for the event's opening day.
Her Majesty, who learned how to ride at the age of three, has seen her own horses compete in the show.
She has often been pictured with her trusty camera around her neck and has been in the stands to support her husband, the late Duke of Edinburgh and her grandchildren, compete in carriage driving competitions.
Take a look back at these amazing photos of the Queen and her family at the Royal Windsor Horse Show over the years…
READ: 14 fabulous photos of the Queen and her family enjoying themselves at royal garden parties
WATCH: Prince Philip dotes on young Princess Anne in sweet unearthed clip from Royal Windsor Horse Show
How cool does the late Prince Philip look in this picture of him standing on the edge of his Range Rover in 1974? Complete with a tweed suit and sunglasses, of course.
Keep clicking for more photos...
The Countess of Wessex cut a stylish figure as she was pictured doing some shopping at the Royal Windsor Horse Show 2021 on its opening day. Sophie wore a blue pleated maxi skirt from ME+EM with a sporty cream stripe down the side, paired with a casual white T-shirt and grey trainers.
MORE: 17 fun photos of the royals having an ace day out at Wimbledon
The Queen always looks incredibly relaxed during the Royal Windsor Horse Show and we love this shot of her mid-laugh while wearing a cable knit jumper and cat-eye sunglasses. And there's one of her trusty cameras around her neck.
MORE: Royal teens! 13 best photos of princes and princesses in their younger years
Princess Eugenie and her sister Princess Beatrice were regulars at the Royal Windsor Horse Show when they were children, having grown-up at nearby Royal Lodge. This photo, taken in 1992, is absolutely all of us at a funfair.
The Queen's daughter and accomplished equestrian, Princess Anne, is pictured at the horse show in 1983, with daughter Zara Tindall on her back, while her son, Peter Phillips, is carried by her bodyguard.
The Duchess of Cambridge enjoyed a chat with the late Prince Philip as they attended a special show for the Queen's 90th birthday celebrations in 2016.
MORE: Dream day job! Kate Middleton always has the best time on royal duty - see the photos
The monarch is always very animated at the event, particularly when watching her own horses at the show! This action shot is from 2019.
MORE: The Queen's rainbow style: from vibrant suits to bright day dresses
Princess Eugenie tucks into an ice cream at the 1994 show.
We love this candid photo of the Queen casually leaning against her car as she takes a picture in 2000.
The Queen's youngest granddaughter, Lady Louise Windsor, has followed in her family's footsteps and competes in carriage driving. She's pictured with her mother, the Countess of Wessex, in 2018.
Her Majesty is renowned for her style and has worn an array of fashionable head scarves at the Royal Windsor Horse Show over the years, including this printed one in 1982.
We also really want to know what tickled the Queen so much in 2018…
The late Prince Philip showed off his fun side as he rode on a mini motorcycle in 2005.
Princess Beatrice sits on her mother, Sarah, Duchess of York's shoulders, in 1991.
The Queen was joined by her eldest children, Prince Charles and Princess Anne, aged eight and six respectively, in 1956.
Princess Elizabeth was joined by her younger sister, Princess Margaret, at the 1947 show. This was taken a few months before Elizabeth's wedding to Philip.