Underwear on full display as No Trousers Tube Ride returns to

The event took place on Sunday and saw many sporting underwear of varying styles and colours.

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Underwear on full display as No Trousers Tube Ride returns to London

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Underwear on full display as No Trousers Tube Ride returns to London

Return to pomp and ceremony as King steps into role long performed by his mother

Underwear on full display as No Trousers Tube Ride returns to London

Underwear on full display as No Trousers Tube Ride returns to London

Underwear on full display as No Trousers Tube Ride returns to London

William and Kate cheered on as they show off bike skills