This is the first time in several months that the Prince has taken on a royal duty with his grandparents, and today’s event was in commemoration of the 60th Anniversary of the Coronation of Her Majesty the Queen in 1953.
A cold Spring day, the Queen looked stylish in a long cream collarless coat and a matching wide hat as she greeted well-wishers and took in the new statue which was surrounded by blooming flowers.
Prince Philip wore a tweed suit and polka dot tie, while Prince William was matching in a navy blue suit with a pale blue tie.
Windsor Grey horses are used by the British royal family to draw carriages and coaches during various ceremonial processions. The statues were installed at the Albert & Kings Road junction adjacent to the Long Walk at Windsor Castle in Berkshire.
The event comes just days after an official family photo was released of the Prince with his wife Kate Middleton, son Prince George and the family dog, Lupo.
The family photo shows that baby Prince George is taking after his mum's side of the family, with the same adorable chubby cheeks she had as a baby.
Prince William greets onlookers
Released by the Duke and Duchess of Cambridge ahead of Britain's Mother's Day, it was the one of the only photos to be released of the young Prince, and comes ahead of the trio’s three-week tour of Australia and New Zealand.
Kate is reported to have been telling people she's "very excited" about the trip, which will be baby George’s first overseas visit.
George and his nanny will accompany his parents and royal fans can expect to be treated with several public appearances.
According to Prince William, the royal tot has learnt how to crawl and his first milk tooth is starting to come through. George is also "doing well" with his weaning, the proud dad said.
Watch: Prince William takes George to meet his sister
It's a little princess!