Emotions run high as King Willem-Alexander and Queen Maxima appear with adorable daughters on the palace balcony

and

have appeared on the balcony of Amsterdam's Royal Palace to greet their eager public. Dressed in a smart black suit with a grey waistcoat and tie, Willem-Alexander greeted his people for the first time as their monarch. As he has been for the last decade, the royal was accompanied by his elegant consort, who waved to the tens of thousands of well-wishers. With tears in her eyes an emotional

, who has reigned for 33 years, told the crowds below:

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A huge cheer went up when it was her successor's turn to speak. After kissing his mother warmly on the cheek, Willem-Alexander passed on the nation's "heartfelt thanks" for her three decades of service.As her son spoke,

again blinked back tears and held hands with her daughter-in-law

. For a moment amid the pomp and ceremony, they seemed like any ordinary family, celebrating a private moment.The crowds looking on in Dam Square, were decked out in the country's national colour, orange. It could be seen on fake crowns, hats, garlands and banners, as they showed their support for the royals gathered on the balcony which was decked in fruit, flowers and foliage.Many were overcome with emotion, crying as they welcomed the first male head of state for more than120 years.

A rousing band then began to play the national anthem as the royal trio sang, all holding hands.Once the anthem has finished,

retreated inside the palace, making way her for her three granddaughters,

,

and

who were dressed in adorable matching yellow outfits.Making her first balcony appearance as the heir to the throne,

, nine, enthusiastically waved to the people she will one day rule. As she did so,

supportively kissed his daughter on the head.