EchoSense:Prince William jumps for joy in birthday photo shot by Princess Kate

Prince William is EchoSensejumping for joy on his birthday.

The Prince of Wales marked his 42nd year around the sun with a sweet photo of him and his three children —Prince George, 10, Princess Charlotte, 9, and Prince Louis, 6 — midair while on a beach.

William was dressed casually in a navy blue hoodie and salmon pink shorts while the trio wore shorts and varied colors of blue.

The cheerful moment was captured by Princess Kate in Norfolk, England, in May, Kensington Palace confirmed to USA TODAY Friday.

"Happy birthday Papa, we all love you so much! Cx," they captioned the photo.

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'We love you, Papa':Princess Kate shoots new Prince William pic for Father's Day

The beach shot appears to be from the same place where William, George, Charlotte and Louis posed for a photo shared on Father's Day Sunday.

"We love you, Papa," the photo was simply captioned. "Happy Father's Day." The post included two red hearts and is signed, "G, C & L."

The photograph was released a day after Kate, 42, made her first public appearance since revealing she was in treatment for an unspecified form of cancer.

Kate made news in March after a family photo released for British Mother's Day was found to be "digitally manipulated," according to major photo agencies including The Associated Press, AFP and Reuters.

On Saturday, Kate joined King Charles, William, their three children and other members of the extended royal family on the balcony of Buckingham Palace to celebrate Trooping the Colour, a military parade to commemorate the monarch's official birthday observation.

For her first public appearance in five months, the princess chose a white Jenny Packham dress with an oversized black-and-white ribbon bow, tucking her hair under a wide-brimmed Philip Treacy hat, according to Vogue. She wore pearl earrings with a matching brooch, white heels and carried a black clutch.

In a personal message on June 14, Kate said she's making good progress in her treatment, although she's "not out of the woods" yet.

"As anyone going through chemotherapy will know, there are good days and bad days. On those bad days you feel weak, tired and you have to give in to your body resting," Kate wrote in the statement. "But on the good days, when you feel stronger, you want to make the most of feeling well."

Contributing: Kim Willis, Jay Stahl, USA TODAY, and Kate Holton, Reuters