Great Britain Queen Elizabeth the second made a surprise appearance on the balcony of Buckingham Palace on Sunday to close them Platinum Anniversary Celebration.

She appeared on the balcony with the two kings-to-be: Prince Charles and Prince William and their wives Camilla, Duchess of Cornwall and Catherine, Duchess of Cambridge. William and Catherine’s three children, Princes George and Louis and Princess Charlotte, also appeared on the balcony.

The queen only appeared for a few minutes. According to BBC News, she waved to the thousands of people on the National Mall who chanted “God Save the Queen”.

Elizabeth, 96, has been forced to scale back some of her appearances at the Platinum Jubilee, which marked her 70th year on the throne. Due to mobility issues, she was unable to attend Thanksgiving services on Friday and a concert on Saturday.

As the celebrations drew to a close, Elizabeth issued a message thanking the British people.

“When it comes to celebrating 70 years as your Queen, there is no guide to follow,” the message said. “It’s really a first. But I am deeply impressed and deeply touched that so many people took to the streets to celebrate my platinum anniversary. While I may not have personally attended every event, my heart goes out to all of you. I continue to strive to serve you to the best of my ability, supported by my family.”

She said she was “inspired by the kindness, joy and connection” she saw over the weekend, adding she hopes “that renewed sense of togetherness will be felt for years to come.”

Earlier Sunday, a hologram of the Queen appeared in a 260-year-old carriage, the same one she drove during her coronation, flanked by 200 horses as it marched through London to Buckingham Palace. The finale of the parade was crowned by singer Ed Sheeran singing “Perfect” and dedicating it to Elizabeth and her late husband Prince Philip.

At a concert on Saturday night Charles honored her as “Your Majesty, Mommy,” then recognized her “lifelong selfless service.” The Queen appeared in pre-recorded video with Paddington Bear.

“You met us and talked to us. You laugh and cry with us, and most importantly, you’ve been there for us throughout these 70 years,” Charles said as scenes from the Queen’s life were projected onto the palace walls. “You promised to serve your whole life – you keep delivering. That’s why we’re here. That’s what we’re celebrating tonight.”

William preceded his father with remarks that underscored the Queen’s longstanding commitment to the environment as he stressed the need to tackle climate change.

Elizabeth’s 70-year line of succession makes her the longest-serving monarch in British history, followed by Queen Victoria, who reigned for over 63 years. The longest reigning monarch in history is France’s King Louis, who reigned for 72 years, and Thailand’s Bhumibol Adulyadej reigned for more than 70 years (and more days than the queen).

The family drama has so far failed to eclipse the Queen’s celebrations. her estranged grandson, Prince Harry and his wife Meghan were present at the Thanksgiving service on Friday as the rest of the family took to social media to wish their daughter Lilibet a happy first birthday.

The only person who has seemed to steal the show from Elizabeth so far has been her four-year-old great-grandson, Ludwigwhose reaction to noisy airplanes flying overhead has been observed around the world.