Queen Margrethe and Princess Benedikte greeted participants at Graasten Palace during the annual ring riding parade in Gråsten. Pictures released by the palace depict the event.

The Queen received flowers from both adult and young riders participating in the parade. The ring riding tradition has historical roots in medieval knight tournaments and is a recurring annual event in several towns in South Jutland.

Gråsten Ring Riding occurs every year during the third weekend in July, featuring several days of festivities and events throughout the town, according to the royal house. Queen Margrethe regularly spends her summers at the South Jutlandic castle.

The castle was given to her parents, King Frederik IX and Queen Ingrid, as a wedding gift in 1935. Traditionally, the Queen spends time at Gråsten with her two sisters, Princess Benedikte and former Queen Anne-Marie, during the summer.

A photograph of the three sisters together was shared by the royal house on Instagram on Friday. Anne-Marie, the former Queen of Greece, reportedly departed on Saturday evening.

Queen Margrethe, 85, was recently admitted to Rigshospitalet in May due to a cold as a precautionary measure. The royal house stated at the time that she was being observed.

Last year, in September, Queen Margrethe had to cancel several engagements after falling at Fredensborg Palace. The fall resulted in her taking sick leave for approximately a month.