Donald Trump pays respects to George HW Bush as mourners gather at US Capitol rotunda

Donald Trump and his wife Melania pay respects to former President George HW Bush as he lies in state in the Rotunda of the US Capitol in Washington (Picture: EPA)

Donald Trump and his wife Melania have paid their respects to President George HW Bush as he lay in state at the US Capitol rotunda.

President Trump made a brief visit to the rotunda, where the public can visit the coffin until the former US leader’s funeral on Wednesday.

Mr Trump, who has in the past clashed with the Bush family, will attend the funeral service with the First Lady.

Mr Bush, president from 1989 to 1993, who died on Friday aged 94, will be buried at his Texas home alongside his wife, Barbara, who died earlier this year in April.

President Donald Trump and First Lady Melania Trump pay their respects (AP)

Washington embraced the 41st president with a solemn ceremony and high tributes to his service and decency at the Capitol rotunda on Monday night.

Mr Bush’s casket was lowered onto the Lincoln Catafalque, which was first used for Abraham Lincoln’s funeral in 1865.

Dignitaries came forward to honour the Texan, whose efforts for his country extended three quarters of a century.

Members of the Bush family stand together before the casket of the late former President George HW Bush inside the Rotunda of the US Capitol (AFP/Getty Images)

Opening the Capitol ceremony, the US House chaplain, the reverend Patrick J Conroy, praised Mr Bush's commitment to public service.

"Here lies a great man," said House speaker Paul Ryan and "a gentle soul. ... His legacy is grace perfected".

Vice president Mike Pence and Republican Senate leader Mitch McConnell also spoke.

Political combatants set aside their fights to honour the Republican who led the country in an arguably less toxic time.

The casket of former President George HW Bush is delivered by joint service members of a military casket team into the Capitol in Washington (AP)

House speaker Nancy Pelosi, a Democrat, exchanged a warm hug with former president George W Bush.

Ms Pelosi and Chuck Schumer, the Senate Democratic leader, placed wreaths in the short ceremony before the rotunda was to be opened to the public.

It was to remain open overnight.

Sent off from Texas with a 21-gun salute, Mr Bush's casket was carried to Joint Base Andrews outside the capital city aboard an aircraft that often serves as Air Force One and designated "Special Air Mission 41" in honour of Mr Bush's place on the chronological list of presidents.

Mr Bush was remembered just feet away from what he called "Democracy's front porch", the west-facing steps of the Capitol where he was sworn in as president.

He will lie in state in the Capitol for public visitation until Wednesday, when an invitation-only funeral service is set to take place at Washington National Cathedral.