The world watched on as the Queen left Buckingham Palace for the last time, led by her son Charles, the new King, and his children William and Harry.
The Royal family walked alongside her Majesty's coffin from the Royal Family 's official residence to Westminster.
Prince William and Prince Harry stood shoulder to shoulder as they walked with their father. They were joined by the Queen's three other children Prince Andrew, Princess Anne and Prince Edward along with Anne's son Peter Phillips, her husband Vice Admiral Sir Tim Laurence, Earl of Snowden - Princess Margaret's son - and the Duke of Gloucester - a cousin of the Queen.
The Queen Consort Camilla, Kate - the new Princess of Wales, Harry's wife Meghan Markle and Sophie, the Countess of Wessex followed behind in a car.
The journey by foot is expected to take around 40 minutes as the cortege passes central London along the Queen's Garden's, The Mall, Horse Guards and Horse Guards Arch, Whitehall, Parliament Street, Parliament Square and New Palace Yard.
In a powerful representation of her 70-year reign, the Queen's coffin was delicately draped with the Royal Standard, on which the Imperial State Crown lies on a velvet cushion - with a wreath of flowers featuring foliage from the gardens at her Balmoral and Windsor residences.
The monarch will arrive at Westminster Hall at 3pm, where she will lie in state for four days. As the hearse passed the Cenotaph, Royal Navy servicemen lined opposite the memorial in uniform to watch the procession.
The only thing that could be heard among the silent crowds was bongs from Big Ben, which chimed at one-minute intervals as the procession made its way to the Palace of Westminster. As the Queen's coffin arrives, the Archbishop of Canterbury will say a prayer for the monarch before her coffin lies in rest.
Yesterday, Princess Anne shared a moving tribute to Her Majesty after joining her on her final journey from Scotland to England. Flying from Edinburgh Airport, the Princess Royal said it has been an "honour and a privilege" to be with the Queen on her final journey to Buckingham Palace.
In an emotional statement, she said: "I was fortunate to share the last 24 hours of my dearest Mother’s life.
"It has been an honour and a privilege to accompany her on her final journeys. Witnessing the love and respect shown by so many on these journeys has been both humbling and uplifting.
"We will all share unique memories. I offer my thanks to each and every one who share our sense of loss. We may have been reminded how much of her presence and contribution to our national identity we took for granted.
"I am also so grateful for the support and understanding offered to my dear brother Charles as he accepts the added responsibilities of The Monarch. To my mother, The Queen, thank you."
The Queen's funeral will take place at Westminster Abbey at 11am on Monday, September 19.
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