From the Dutch Royal House’s website: outline of abdication and investiture
Here’s the detail of the abdication and investiture ceremonies on April 30, 2013 straight from the Dutch Royal House’s official website.
10.00-10.30 am – Queen Beatrix proclaims her abdication before the Presidents of the Senate and the House of Representatives, the Council of Ministers for the Kingdom and members of the Royal Family. The Queen signs the instrument of abdication, which is read aloud by the Director of the Queen's Office.
10.30-10.50 am - His Majesty the King, Her Majesty the Queen and Her Royal Highness Princess Beatrix of the Netherlands appear on the balcony of the Palace. Princess Beatrix and the King will both give a short address. Her Royal Highness the Princess of Orange and Their Royal Highnesses Princess Alexia and Princess Ariane will then join their parents on the balcony.
1.55 pm- The King and his retinue proceed to the Nieuwe Kerk.
2-2.30 pm – The King swears in and in invested during a joint session of the two Houses of the States General in the Nieuwe Kerk. The King delivers an address and is sworn in. The President of the two Houses, Fred de Graaf, delivers an address and makes a solemn declaration, after which every member of the States General and the States of Aruba, Curaçao and St Maarten swears an oath or makes an affirmation.
4.13-5.30 pm- Reception for authorities and members of the States General in the Royal Palace Amsterdam.