All aboard for unforgettable day

The flotilla featured every kind of vessel imaginable, from steam boats, barges and tugs to dragonboats and one-man kayaks, which sailed past the thousands of spectators who lined the riverbanks to witness the once-in-a-lifetime event.

The belfry carrying the Royal Jubilee bells was the first vessel through, followed by the million-pound row barge Gloriana led by Olympic gold medallists Sir Matthew Pinsent and Sir Steve Redgrave, rowing with 16 others.

A 41-gun salute was fired from the Tower of London to celebrate the Queen’s 60 years on the throne while the crowds cheered despite the wet weather.

The bascules of Tower Bridge opened for the arrival of the Royal barge, the Spirit of Chartwell, as the Royal Family prepared to join Prime Minister David Cameron and his wife Samantha on board HMS President to watch the rest of the seven mile-long flotilla making its way down the Thames.

Behind them, the Duchess of Cambridge’s family were on board the Elizabethan, part of the Royal Squadron of boats reserved for special guests of the Queen.

Also in the Royal Squadron was Havengore, which carried the Duke of York, Princess Beatrice, Princess Eugenie, the Earl and Countess of Wessex, the Duke and Duchess of Gloucester and Prince and Princess Michael of Kent. They were joined by Mayor of London Boris Johnson and former Prime Minister Sir John Major and his wife Dame Norma Major.

The craft is most famous for transporting Sir Winston Churchill’s body along the Thames on the day of his state funeral in 1965.

The Princess Royal and Vice-Admiral Sir Timothy Laurence travelled on Trinity House No.1 Boat, while the Duke of Kent and Princess Alexandra were on board the RNLI Diamond Jubilee.

The Duchess of Kent, who does not usually attend royal events, was on the Henley steam launch – one of the oldest passenger boats in daily service on the Lower Thames.

Sailing behind the Royal Squadron were 39 Dunkirk “Little Ships”, reunited 72 years after they were drafted in by the Royal Navy in 1940 to help to rescue hundreds of thousands of Allied troops from the shores of northern France during the Second World War.

Many of them private fishing and pleasure boats, they helped the Royal Navy to rescue 338,000 troops from the French beaches between May 27 and June 4 1940.

The event was described as a “miracle of deliverance” by wartime Prime Minister Winston Churchill.

Two Dunkirk veterans, Vic Viner and Harry Kidney, were on board the little ships as they sailed in formation along the Thames. A third veteran, Reg Vine, who was due to take part, had to give the event a miss after falling at home.

Kayakers in Red Indian head-dresses stood out in the mass of vessels filling the river as children pointed and giggled.

The arrival of The Edwardian, carrying an orchestra, drew excitement as people bobbed up and down to the music, while the fleet of five-man Sea Cadet boats inspired a rousing three cheers.

Anna Williamson, 26, from Chelsea, west London, said: “Seeing the Queen go past was brilliant. We have loved it so far and that was the best bit.”

Rory Neville-Clarke, 26, from Balham, south-west London, added: “Seeing the Queen was great but I also love the kayaks and all the colours. ”

Other notable vessels in the flotilla included St Michael’s Mount barge, which is the oldest boat still in commission in Britain. It once carried Queen Victoria – the only other British monach to reach a Diamond Jubilee – ashore from the Royal Yacht to St Michael’s Mount in Cornwall in 1846.

Among those on board were a crew of island residents and workers including castle steward Adam Poole, mount gardener Claire Hillage and head boatman Dave Ladner.

In the Avenue of Sail, where vessels too large to travel with the rest of the flotilla were moored, was another boat with a connection to the Queen’s great-great-grandmother.

The 127-year-old took part in Queen Victoria’s Diamond Jubilee Royal Fleet Review in 1897 – the only vessel in yesterday’s pageant thought to have done so.

Yesterday’s event achieved a new world record for the largest boat parade – surpassing the previous record of 327 boats in Bremerhaven, Germany, last year. The record was announced as 419 boats reached Tower Bridge with around 600 more still to follow.

One of the UK’s biggest ever security operations was under way with the Royal Family were protected by Royal Navy vessels, marines and armed police in speed boats.

Scotland Yard and Essex Police patrol craft were also on hand, and SAS teams were stationed on the riverside to support the 6,000 police officers and 7,000 stewards on duty.