A horse involved in the Coronation procession from Westminster Abbey rammed backwards into the crowds after it appeared to be spooked.
The terrifying incident happened as the Gold State Coach, carrying the King and Queen back to Buckingham Palace, rounded the corner from Whitehall into The Mall.
One of the horses behind the carriage began walking backwards before crashing into the barriers which separated the public from the procession route.
Military personnel were seen rushing over to help and a stretcher was picked up but it was not needed and no one appeared to be injured.
A female police officer appeared to be given assistance from her colleagues, limping away from the area.
Some 4,000 sailors, soldiers, aviators and other military personnel from across the UK and the Commonwealth will accompany Charles and Camilla on their return procession. There will be more than 1,000 route liners from the Army, RAF and Royal Navy.
The procession continued along the The Mall to huge cheers and Charles was seen waving to fans.
The Prince and Princess of Wales followed with William waving and Prince George was seen looking curiously at the thousands cheering.
Prince Louis had his face pressed close to the glass while Princess Charlotte looked calmly on.
The Household Cavalry Mounted Band and The King’s Troop Royal Horse Artillery are leading the procession, followed by around 400 service personnel from the Armed Forces of the Commonwealth, who are flanked by 114 Guardsmen of the Household Division carrying Realm and Commonwealth flags.
They are being followed by the Royal Air Force marching detachment, with three marching detachments from the British Army behind them, and the Royal Navy detachment stationed at the rear, as it is the senior service and therefore closer to the gold state coach.
The final group is the Household Procession, made up of close to 1,000 Household Cavalry Troopers who form the Sovereign’s Escort, and Guardsmen of the Household Division.
Charles and Camilla are expected to enter Buckingham Palace through the centre arch at 1.33pm.
They will receive a salute from the military in the palace gardens at 1.45pm, and then at about 2.15pm they will be joined by members of the royal family on the palace balcony to watch the flypast.
