Queen Elizabeth attends Royal Windsor Horse Show

After canceling several in-person appearances, Queen Elizabeth II arrived at the Royal Windsor Horse Show.

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The queen missed the State Opening of Parliament Tuesday, where Prince Charles read the Queen’s Speech, citing the monarch’s mobility issues, Reuters reported. It was only the third time in her 70-year reign that she had missed the government’s ceremony.

>>Previous coverage: Prince Charles sits in for Queen Elizabeth II for Parliament’s opening

Elizabeth, 96, was last seen in public during the remembrance service for her late husband Prince Philip the Duke of Edinburgh, held at Westminster Abbey in March.

The regent has been performing many duties either virtually or at her home at Windsor Castle since she was hospitalized in October for an undisclosed illness, Reuters reported. She was also diagnosed with COVID-19 earlier this year.

But on Friday, Elizabeth climbed into the front passenger’s seat of a Range Rover and watched the parade of her horses from the comfort of the SUV, BBC News reported.

She was seen smiling and laughing as she spoke to people through the vehicle’s open window before the horses were put through their movements set with classical music playing over the Windsor Castle venue’s speakers.

>>Previous coverage: Happy birthday, Queen Elizabeth II! Monarch poses with beloved ponies in new photo

Elizabeth eventually moved to her seat in the stands, getting to her position with the help of a walking stick, Reuters reported.

The Royal Windsor Horse Show is said to be Queen Elizabeth’s favorite event of the year, according to BBC News.

Horses compete in show jumping, dressage, driving and endurance. In 2016, the queen herself won a Tesco supermarket voucher when her horse won an event, BBC News reported.

The Royal Windsor Horse Show was started in 1943 and runs four days each year, with this year’s event ending Sunday.

>>Previous coverage: Is Queen Elizabeth II stepping down? Not yet. Here is why

The queen is expected to attend the finale, along with actors Tom Cruise and Helen Mirren, and several of the queen’s great-grandchildren.

It is the start of the celebrations for the queen’s Platinum Jubilee with the main events scheduled over four days starting June 2, Reuters reported.

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