https://www.dr.dk/drtv/kanal/dr1_20875
It's now 17:10 in DK as this is posted.
From 18:45 until 20:00 the arrival of the royals and the guests will be covered live on DR1 - the link above.
The DRF should start to arrive around 19:30.
If you listen to the tune in the clip Eya kindly posted above, it's time to pay attention! Because that's the Colour March and also being a salute it's played by fifers and drums whenever a royal arrive.
Let's go through the ceremony again.
The royals will arrive in reverse order of precedence.
With Joachim and/or Benedikte first. - Perhaps they'll arrive together.
Then M&F and finally QMII.
Having walked inside they will greet the Chief of Court and Master of Ceremonies and whoever is in charge.
Then Joachim, later Frederik and eventually QMII will receive the report from the commander of the honor guard and inspect the honor guard.
- If Frederik was forced to stay at home due to flu, Mary would and could inspect the honor guard as she does hold a military rank, captain in the Army Home Guard. In any case she's the Crown Princess, she would outrank everybody else in the building until QMII arrives.
We won't see this, we have never seen this on TV: After having greeted the guests who will have moved on into the dining room, the DRF members will also walk in, again in reversed order of rank, but in the door the ladies will curtsy to the guests, that includes Mary and QMII - I don't know if the men will bow or nod - as a mark of respect for the democracy. The guests very much being from the government and Parliament.
That happens only once a year.
ADDED:
If you cannot watch the link above, try BB and BT, as well as the videos that will eventually be posted on TV2.