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LONDON – Queen Elizabeth II appeared on the balcony of Buckingham Palace, delighting crowds as the Platinum Jubilee celebrating her 70 years on the throne ended Sunday.

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The 96-year-old monarch, whose participation in the four-day event has been limited to two public events due to “periodic mobility issues,” was surrounded by Prince Charles and his wife, Camilla Duchess of Cornwall; along with Prince William, Catherine, the Duchess of Cambridge and their three children, the BBC reported.

Elizabeth joined other members of the Royal Family on the palace balcony on Thursday during the Queen’s Birthday Parade, The Associated Press reported. Later that day the queen participated in a national beacon lighting ceremony at Windsor Castle.

However, Elizabeth skipped a church service in her honor on Friday at St. Paul’s Cathedral in London, and she missed the Epsom Derby horse race on Saturday, according to the AP.

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On Sunday the queen, wearing a green outfit, briefly walked out on the balcony and waved to the crowds on the Mall, according to The Guardian. She returned inside after a few moments, followed by her family.

The queen issued a statement after leaving the balcony.

“I have been humbled and deeply touched that so many people have taken to the streets to celebrate my Platinum Jubilee,” Elizabeth said. “While I may not have attended every event in person, my heart has been with you all; and I remain committed to serving you to the best of my ability, supported by my family.

“I have been inspired by the kindness, joy and kinship that has been so evident in recent days, and I hope this renewed sense of togetherness will be felt for many years to come. “I thank you most sincerely for your good wishes and for the part you have all played in these happy celebrations.”