King Charles III leads siblings in vigil for the Queen inside Westminster Hall

King Charles III has led his siblings in a vigil for the late Queen.

At 7.30pm on Friday, the Queen's siblings left Buckingham Palace and made their way to Westminster Hall to take part in a standing vigil for their mother Queen Elizabeth II. Her Majesty has been lying in state at Westminster Hall since Wednesday.

Dressed in military uniform, King Charles III was followed by the Princess Royal and Earl of Wessex, with the Duke of York just behind and also in military uniform.

Read more: Queen's lying in state updates: Queen's children take part in Vigil of the Princes around her coffin

The siblings then stood around their mother's coffin with their heads bowed as a mark of respect to Her Majesty who passed away at Balmoral on September 8.

The new sovereign, Anne, Andrew and Edward looked sombre as they took their places at the coffin – four days after they participated in a vigil in St Giles’ Cathedral in Edinburgh.

Throughout the 15 minute vigil, members of the public continued to file through the hall to pay their respects to the Queen, who will lie in state until her funeral on Monday, September 19. But despite hundreds of people passing by, the atmosphere inside the hall remained calm and solemn, with the hall remaining in silence.

King Charles III arrives to stand vigil beside the coffin of his mother, Queen Elizabeth II, as it lies in state on the catafalque in Westminster Hall (PA)

After leaving Westminster Hall following the end of the vigil, they were given a round of applause by the public in the queue, PA reports.

On Saturday, the Queen's grandchildren will participate in a vigil at her coffin, and the Duke of Sussex will join his brother the Prince of Wales in wearing uniform.

Royal sources said the decision to allow Harry to wear his uniform during the vigil was made by his father. The other grandchildren will be in morning coat and dark formal dress with decorations.

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