Cheers were heard from onlookers as Prince William and Catherine led their children, Prince George, 12, Princess Charlotte, 10, and Prince Louis, 7, into the chapel.
As they walked, Princess Charlotte waved to the crowds of people watching on from behind barriers.
The Wales’ missed the service last year as they decided to go on a family holiday to Norfolk, and skipped the year before as it came shortly after Catherine’s cancer diagnosis.
Princess Anne joined, accompanied by husband Sir Tim Laurence, as well as Prince Edward and his family.
The King and Queen arrived last and one onlooker was heard shouting “God bless the King”.
As they left the chapel, the King and Queen shook the hands of the public, wishing them a happy Easter.
The Queen remarked that the service was “good” when asked how it was.
