King Felipe and Queen Letizia celebrate Spain's National Day

King Felipe VI and Queen Letizia gathered to celebrate Spain's national day in Madrid on Monday. The royal couple were joined by their daughters Princess Leonor and Princess Sofia to watch a military parade marking the special day.

The family looked on from a balcony as aircraft from the Spanish military performed a fly-past leaving trails of red and yellow smoke, while over 3,400 troops marched through the centre of the city.

The Spanish royal family presided over Monday's national day celebrations

The celebrations were in honour of the country's national holiday, which commemorates both the arrival of Christopher Columbus in the new world and Spain's armed forces day.

King Felipe looked regal as he presided over the parade in military uniform, while Queen Letizia looked characteristically chic in a navy shift dress and blazer with her hair worn in a low bun.

Princesses Leonor and Sofia waved to the crowds in Madrid

Princesses Leonor and Sofia donned patterned blue dresses and cardigans with wool tights, and both wore their hair in matching plaited styles. The youngsters waved happily to the crowds who had lined the streets to watch the parade, and could be seen chatting animatedly to their mother during the procession.

It is the second time the family has presided over the national day celebrations following Felipe's coronation in June 2014. The 47-year-old's new title means that his eldest daughter Leonor is now the heir to the Spanish throne and the youngest heir presumptive in Europe.

The family chatted on the balcony as they watched the parade

The nine-year-old has recently been honoured with her own postage stamp, with around 310,000 stamps featuring a portrait of the young princess now on sale in her home country.

The special stamps, priced at around 70p each, are all about celebrating the cultural awards named after Leonor's official title, Princess of Asturias.