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Household Cavalry dismount parade

If correct, I understand that the Household Cavalry has a dismounting parade of the Guard at 4 p.m. daily at the Horse Guards Parade. Does anyone know what that entails and how long the parade lasts? My son and I will be ending a walking tour of Westminster at 4 p.m. and wonder if its worth high-tailing it to the Horse Guards Parade for a view. If so, is there a preferred location for viewing? We'll take in the Cavalry Museum immediately following. Thanks for your suggestions.
Mom from MN