Prince Philip joins royals for Trooping the Colour ceremony

Queen Elizabeth II, Prince Philip, Duke of Edinburgh are joined by members of the royal family on the balcony of Buckingham Palace after the Trooping the Colour ceremony and the Horse Guards Parade on June 16, 2012, in London.

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(CBS News) Prince Philip appeared to be in good spirits Saturday as he made his first public appearance since being hospitalized earlier this month for a bladder infection.

The Duke of Edinburgh, 91, stepped out with other members of the royal family in London for the annual Trooping the Colour ceremony, which celebrates Queen Elizabeth II's official birthday.

Pictures: Royals step out for Trooping the Colour
Pictures: Prince Philip

The queen, wearing a yellow coat and dress by Angela Kelly, traveled with Philip from Buckingham Palace to the parade grounds in a covered glass coach, the BBC reports. The royal couple had originally been scheduled to travel in Queen Victoria's 1842 open-topped ivory-mounted phaeton carriage, but plans changed due to the "unpredictable nature of the weather."

Prince William, wearing his uniform as Colonel of the Irish Guards, was seen on horseback during the event, which was also attended by Prince Charles, Princess Anne, Prince Andrew, Princesses Beatrice and Eugenie, Prince Harry and Kate, Duchess of Cambridge, who wore a silver-gray dress by Erdem with a Jane Corbett hat, according to the Daily Mail.

After the parade, the royals made a traditional appearance on the Buckingham Palace balcony.

A list of those who received birthday honors from the queen was also revealed over the weekend. They include actor-director Kenneth Branagh, who was named a knight; actress Kate Winslet, named a Commander of the Order of the British Empire (or CBE); and Sarah Burton, the designer of Kate's wedding dress, who received an OBE for services to fashion.

27 Photos

Royals attend Trooping The Colour ceremony