Thousands of performers are taking part in a spectacular finale to the Queen's Golden Jubilee celebrations in London.

About 20,000 people from Britain and the Commonwealth are staging a massive parade which has transformed the Mall into a sea of colour.

The Hell's Angels were led by Snob

The climax of the Jubilee weekend is being watched by the Queen and other members of the Royal Family, as well as about a million people lining the streets.

Performers from the Notting Hill Carnival procession began the proceedings, as senior royals greeted the crowds.

The Queen and the Duke of Edinburgh received a rapturous reception as they arrived in the Mall in an open-topped Ranger Rover, after a lunch at the Guildhall.

About 2,500 Notting Hill Carnival performers led the way from the Victoria Embankment to Trafalgar Square.

Among those that followed were a children's theatre group, a 5,000-strong gospel choir, war veterans and Hell's Angels.

By 1610 BST, Green Park was full of people with crowds directed to Hyde Park to watch the display on big screens instead, according to police.

The crowds were all ages

Princes Charles, William and Harry greeted well-wishers.

Other senior royals taking part in a walkabout included Princesses Beatrice and Eugenie, who accompanied their father the Duke of York.

The Earl and Countess of Wessex, the Princess Royal, her husband Commodore Timothy Laurence and her son Peter Phillips were also there, along with Prince and Princess Michael of Kent.

Afterwards the Royal Family watched the procession from a platform outside the Palace.

Cultural changes

One of the Notting Hill Carnival organisers, Clary Salandy, said: "We are honoured to be here to represent the Caribbean contribution to the cultural and artistic scene of Britain."

About 20,000 performers are taking part

The Chicken Shed Children Theatre and Youth group's performance included solos from 12 singers.

The gospel choir was led by Patti Boulaye, singing a special Jubilee song she had written for the occasion.

A host of 50 motorbikes from five decades were led by Hell's Angel Alan Fisher, known as Snob.

The Metropolitan Police, St John Ambulance and London Fire Brigade were among those marching, alongside youth and voluntary organisations and a procession of vintage cars.

Some floats demonstrated cultural changes in fashion and food as well as political events such as the miners' strike.

The royals enjoy the spectacle

A host of celebrities including Barbara Windsor, Alan Titchmarsh and Sir Cliff Richard also took part.

A spokeswoman for the Golden Jubilee Weekend Trust said: "The numbers of people celebrating in London, estimated at over a million, and the hundreds of millions who will be watching it on television world wide, have seen the most fabulous pageant and celebration of 50 glorious years."

Earlier, the Queen thanked her family and the nation for their support at the Guildhall lunch, which was attended by 700 guests.

Before the lunch, the Archbishop of Canterbury, Dr George Carey, paid tribute to the Queen's "steadfastness" and "dedication" at a thanksgiving service in St Paul's Cathedral.