The Queen has said she was "humbled and deeply touched" by the Platinum Jubilee celebrations held across the UK.

In a "thank you" letter after a concluding pageant in London, she said she remained committed to serving as monarch with the support of her family.

The Queen said despite not being at every event marking her 70-year reign: "My heart has been with you all."

She was joined by three generations of her family on the Buckingham Palace balcony for the finale of the pageant.

Her appearance rounded off a huge star-studded procession along The Mall which saw carnival floats celebrating the seven decades of her reign.

Millions of people also held Jubilee parties and street lunches in towns and cities across the UK on the final day of the four-day bank holiday weekend.