Queen misses jubilee service with Harry and Meghan in attendance as Boris Johnson is booed

London (CNN)The second day of celebrations marking Queen Elizabeth II's 70-year reign began with members of the royal family, including Prince Harry and Meghan, Duchess of Sussex, attending a religious service at the famed St Paul's Cathedral in central London on Friday.

The Queen, however, remained at home after experiencing "discomfort" on Thursday, the first day of the Platinum Jubilee. Buckingham Palace said in a statement on Thursday evening that the Queen had "greatly enjoyed" the jubilee's opening events and made the decision to miss Friday's service "with great reluctance" after "taking into account the journey and activity required to participate."

The Queen made two appearances on the Buckingham Palace balcony Thursday to the delight of thousands of flag-waving supporters below.

A Buckingham Palace spokesperson told CNN on Friday that the Queen would be watching the thanksgiving service on television from Windsor Castle. Her son Prince Andrew was another notable absence from the religious service after testing positive for coronavirus.

Meghan and Harry, who flew from the US for the jubilee celebrations, were warmly welcomed by the crowd, arriving to cheers.

Ahead of the event, there was much speculation in the British press over how the couple would be received following their decision to step back from the royal family and move to California two years ago.

The public was less enthusiastic toward British Prime Minister Boris Johnson, who was both cheered and booed as he arrived with his wife, Carrie.

The final guests to arrive at St Paul's were Prince William and Catherine, Duchess of Cambridge, followed by Prince Charles -- the heir to the throne -- and Camilla, Duchess of Cornwall.

More than 400 people from all four nations of the United Kingdom were invited to the event recognizing the Queen's lifetime of service.

The congregation included key workers, teachers and public servants as well as representatives from the Armed Forces, charities, social enterprises and voluntary groups, according to Buckingham Palace. London Mayor Sadiq Khan was among those in the audience.

The service was a chance for the royals to come together in recognition of the much-loved matriarch.

The service was a chance for the royals to come together in recognition of the much-loved matriarch.