The Queen will not attend Friday’s Jubilee service at St Paul’s Cathedral after experiencing discomfort while watching Thursday’s parade at Buckingham Palace.

The decision was made with “great reluctance” after considering the “journey and activity required”, the palace said.

However, she did take part in a beacon lighting ceremony on Thursday evening. Four days of celebrations marking the Queen’s 70-year reign began earlier.

The 96-year-old monarch appeared twice at Buckingham Palace balcony, flanked by other senior royals, as they watched a military parade and waved at thousands of well-wishers gathered on The Mall.

Hours after the ceremony, the palace confirmed she would not attend Friday’s thanksgiving service, but said she “would like to thank all those who made today such a memorable occasion”.

The next Jubilee event the Queen is due to attend is the derby at Epsom race course on Saturday, although it is yet not known whether she will still appear at the horse race.

The service at St Paul’s in central London will give thanks for the Queen’s seven decades as monarch.

Senior royals including the Prince of Wales, Duchess of Cornwall and the Duke and Duchess of Cambridge will all attend, with Prince Charles officially representing the Queen.

The Duke and Duchess of Sussex – who have flown over from California – will also join. It will be Prince Harry and Meghan’s first royal event together since leaving the UK two years ago.