• Queen Elizabeth walked the "A Gallop Through History" red carpet Sunday with a walking stick, accompanied by Prince Edward
  • The event featured acting and musical performances, horse displays and a number of celebrities as presenters
  • Her Majesty's eyes gleamed with pride when Lady Louise Windsor rode in on Prince Philip's exercise carriage

Queen Elizabeth attended her continued Platinum Jubilee Celebration Sunday evening after sparking concern over her mobility issues.

The 96-year-old British monarch was photographed smiling when she made an appearance at the Sunday televised event, titled "A Gallop Through History," which took place on the private grounds of Windsor Castle.

The special featured acting and musical performances, horse displays and a number of celebrities as presenters, including Tom Cruise and Helen Mirren, People reported.

Queen Elizabeth was driven a short distance from Windsor Castle, where she resides, to the showground for the event. She stepped on the red carpet with a walking stick, accompanied by her youngest son Prince Edward.

The monarch wore a gray cardigan and a blue dress, which she accessorized with black shoes and a handbag.

During the event, the Queen watched from the Royal Box with Prince Edward, his wife Sophie, Countess of Wessex, and a family friend, Penny Romsey.

She visibly enjoyed the musical ride by the Household Cavalry, the Queen's official bodyguards at ceremonial functions. She was also spotted pointing out the horses and riders as Gregory Porter sang his track "Revival," according to the outlet.

The royal family had an emotional moment when the Earl and Countess of Wessex's eldest child Lady Louise Windsor rode in on Prince Philip's exercise carriage. When the camera panned to the Queen, her eyes glistened with pride as she watched her granddaughter, who inherited the late Duke of Edinburgh's passion for the sport, People reported.

The celebrity presenters also paid tribute to the Queen. Alan Titchmarsh praised her with: "constant heart beating in the nation, that heart belongs to Her Majesty the Queen."

Cruise, meanwhile, introduced a section that celebrated the four nations of the United Kingdom — England, Scotland, Wales and Northern Ireland.

The "Mission Impossible" star also opened up about the Queen's impact over her record-breaking reign. "[To] people of all walks of life — not just America but the world — [she's admired for] dignity, devotion and kindness that I have always felt about her," he told ITV before presenting. "And [she is] someone who understands her position and held it through a history of 70 years."

Mirren, dressed as Elizabeth I, ended the show by saying, "For all these years you have carried our nation and have been its heart and drumbeat. Our sincere and most loving thanks."

Prior to this event, the Queen also made a surprise appearance at the Windsor Horse Show Friday.

She sparked health concerns last week after she missed the State Opening of Parliament for the first time in nearly 60 years due to "episodic mobility problems."

But despite her decision to cancel some engagements and delegate duties to Prince Charles and Prince William, the Queen remains "in charge," according to royal historian Robert Lacey.

"The sense I get from everyone I speak to is that the Queen remains totally in control of her faculties and of everything at the palace," he told People. "The problem is physical mobility — and that is not a constitutional or regency issue. She is in charge."

Queen Elizabeth will continue to celebrate her 70 years on the throne with dozens of events before ending with a series of festivities on the weekend of June 2 to June 5.

Queen Elizabeth II, 96, last missed a state opening of parliament in 1963, when she was pregnant with Prince Edward
Queen Elizabeth II, 96, last missed a state opening of parliament in 1963, when she was pregnant with Prince Edward POOL via AFP / Dominic Lipinski