Sophie Wessex looked teary as she watched her children Lady Louise Windsor, and James, Viscount Severn, take part in the vigil from the sidelines.
The Duke of Sussex joined his brother, the Prince of Wales, for an emotional vigil around their grandmother, the Queen's, coffin this evening as she lies in state in Westminster Hall.
They were joined by their cousins - Her Majesty's six other grandchildren - Peter Phillips, Zara Tindall, Princesses Beatrice and Eugenie, 18-year-old Lady Louise Windsor, and James, Viscount Severn, aged 14, around the middle of the coffin.
The tribute to their grandmother at Westminster Hall tonight where she is lying-in-state, left the royals emotional as they performed the moving ceremony.
The reunited brothers, who both wore military uniforms, stood in silence during the vigil, with their heads bowed as mourners walked by to show their respects.
Prince William stood at the head of the coffin with Prince Harry at the foot, as they emotionally paid tribute to the monarch.
All royal cousins wore black "morning coat and dark formal dress with decorations" to honour the longstanding royal tradition.
The great-grandchildren looked emotional and on the verge of tears throughout the ceremony - one of the last public events before her funeral on Monday.
Following a request from his father King Charles, Prince Harry wore military uniform to mark the occasion, for the first time since 2020.
During the procession earlier this week, where he followed the Queen's coffin as it was transported on a gun carriage from Buckingham Palace to The Palace of Westminster, he wore a morning suit. He has only been seen in civilian clothes since the monarch died.
A statement from Buckingham Palace yesterday said: "The grandchildren, at the King's invitation, are very keen to pay their respects - just as their parents are doing the evening before."
Before the vigil, the Queen's youngest child, Prince Edward, thanked the public for their support.
"We have been overwhelmed by the tide of emotion that has engulfed us and the sheer number of people who have gone out of their way to express their own love, admiration and respect to such a very special and unique person who was always there for us," he said.
"And now, we are there for her, united in grief."
The vigil follows the Queen's children, including the King, stood guard for about 15 minutes, while mourners passd by.
After they finished the emotional ceremony, well-wishers applauded them.
Earlier in the day the vigil, the Queen's youngest child, Prince Edward, the Earl of Wessex, thanked the public for their support.
"We have been overwhelmed by the tide of emotion that has engulfed us and the sheer number of people who have gone out of their way to express their own love, admiration and respect to such a very special and unique person who was always there for us," he said.
"And now, we are there for her, united in grief."
All of the Queen's grandchildren and their spouses will be present at the Queen's funeral on Monday, which is expected to see the Abbey filled with over 2,000 guests.
A two minute silence will be held and the national anthem will then be played to signal the closing of the service.
After the funeral, the King and members of the royal family will walk behind the Queen's coffin to Wellington Arch before it is driven to Windsor on the state hearse.
The Queen will then be transferred to Windsor Castle where the late monarch will be laid to rest alongside Prince Philip, the Duke of Edinburgh, in King George VI's chapel.
The chapel is also the resting place of the Queen's father, King George VI, the Queen's mother and sister, Princess Margaret.
You can leave your tributes to Queen Elizabeth II here.
This weekend, the Daily Mirror and Sunday Mirror celebrate the life of Her Majesty the Queen with a commemorative special filled with all the key moments from Britain’s longest reigning monarch. Be sure to pick up your copy of the Daily Mirror and Sunday Mirror to get both pullouts.
