The Queen travels down the Mall from Buckingham Palace in a royal procession with a sovereign's escort of Household Cavalry (mounted troops or horse guards). After receiving a royal salute, she inspects her troops of the Household Division – both foot guards and horse guards – and the King's Troop, Royal Horse Artillery. Each year, one of the foot-guards regiments is selected to troop its colour through the ranks of guards. Then the entire Household Division assembly conducts a march past the Queen, who is saluted from the saluting base. Parading with its guns, the King's Troop takes precedence as the mounted troops perform a walk-march and trot-past.