Kate Middleton and Princess Charlotte turned to their go-to classic shoe styles on Saturday for Trooping the Colour in London.

For the annual event, which marks the King’s official birthday, the Princess of Wales opted for a pair of stilettos, the Gianvito Rossi 105 Praline Suede pumps that she has been known to wear frequently over the years. Princess Charlotte stepped out in her tried-and-true ballet flats, a style she often picks for formal occasions.

Middleton’s shoes, which were made with suede material, feature a sharp pointed upper. The clean silhouette comes in multiple colors, and is one of Rossi’s best-known styles. The pump‘s slender stiletto heel clocks in at 4.1 inches, and the shoe retails for $795.

As for the rest of her ensemble, Princess Kate wore a teal Catherine Walker dress coat and a matching hat designed by Juliette Botterill. She accessorized her look with an Irish Guards regiment brooch and pearl drop earrings that previously belonged to the late Queen Elizabeth.

Her daughter, Princess Charlotte, matched her mom in a teal dress and white Mary Jane ballet flats. Crafted with a leather upper and a rubber sole for durability, the shoes featured a slip-on design, making them comfortable for a day of walking. 

Trooping the Colour is an annual ceremonial parade that celebrates the official birthday of the British Monarch. The event features over 1,400 soldiers and officers, accompanied by 200 horses, and more than 200 musicians from ten different bands and Corps of Drums marching and performing. The event is also commonly known as the King’s Birthday Parade, even though King Charles won’t celebrate his birthday until November.

For last year’s event, the Princess of Wales wore an elegant white dress from Jenny Packham, which she coordinated with white leather pumps from Jimmy Choo. Those pumps featured a triangular pointed toe design and were completed by a 2-to-3-inch stiletto heel. That event marked her first public appearance after announcing her cancer diagnosis. Middleton has attended every Trooping the Colour since 2011, frequently wearing Erdem, Stella McCartney and Alexander McQueen as her go-to designers.