The Diamond Jubilee Concert is currently in full swing and has already seen incredible performances from the likes of Robbie Williams, Cheryl Cole and Will.i.Am.

Take That's cheeky singer Robbie Williams kicked off the proceedings with a high-octane rendition of his well-loved hit 'Let Me Entertain You' and was followed by a duet of Lady Antebellum's 'Need You Now' by Gary Barlow and Cheryl Cole.

Meanwhile, the royal family and concert goers enjoyed live sets from JLS and Will.i.Am, who sang with fellow 'The Voice' coach Jessie J.

Grace Jones wowed the crowd with her performance of 'Slave To The Rhythm', which she sang in full while spinning a hula hoop around her waist, and attracted a flood of Twitter comments with Cosmopolitan magazine writing:

"Grace Jones must have abs of steel. We'd have had to pick it up 10 million times by now..."

Singer-songwriter Ed Sheeran, who recently celebrated a quadruple Platinum certification with his album '+', also took the stage earlier this evening (June 4) and treated viewers and the live audience alike to a rendition of his single 'The A Team'.