Kate Middleton, Prince William, more attend Queen Elizabeth's service of Thanksgiving at St. Paul's

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Royal Family Kicks Off Queen Elizabeth II's 90th Birthday Celebration With Service of Thanksgiving

Happy Birthday Queen Elizabeth and Prince Philip! The royals have a big weekend ahead of them celebrating two milestone birthdays in the family. On Friday, they kicked off the festivities with the Service of Thanksgiving at St. Paul's Cathedral in London.

MORE: Queen Elizabeth Celebrates Prince Philip's 95th Birthday With Sweet Portrait: 'He Has Been My Strength'

The iconic church played host to the majority of the royal family, including Queen Elizabeth, Prince Philip, Prince William, Prince Charles, Kate Middleton, and Prince Harry. Sadly, William and Kate's two adorable children, Prince George and Princess Charlotte, were not in attendance.

The Queen wore a buttercup yellow suit with one of her signature hats for the service and was escorted by her husband, Prince Philip, on his 95th birthday.

Middleton wowed in a pale blue jacket and dress with white embroidery and a chic white hat. Her husband and brother-in-law both donned navy blue suits with red ties.

MORE: Kate Middleton Rocks a Royal Blue Gown, Continues to Look Flawless While Meeting British Sports Stars

The service marks the start to a weekend of celebrations. On Saturday the royals will partake in the annual Trooping the Colour ceremony, which honors the Queen's 90th birthday. Though the events surround HRM, she did take a moment to praise her husband on his birthday on Friday morning.

"He has quite simply been my strength & stay all these years," she wrote along with a previously un-released portrait of the couple from photographer Annie Leibovitz.

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