Princess Anne, The Princess Royal, and her husband Vice Admiral Sir Timothy Laurence took the Queen on her final journey to Windsor after accompanying the late monarch's coffin across the country.
When the hearse set off from Wellington Arch Princess Anne got in the car behind the coffin with her husband, Vice Admiral Sir Timothy Laurence.
Princess Anne has accompanied her mother in all her journeys to her final resting place.
The princess was in Scotland when the Queen was taken ill, and stayed at her bedside at Balmoral Castle, as senior royals rushed to say their final farewells.
In an emotional journey through the country, she accompanied her mother's body from Balmoral, through the streets of Edinburgh and down to Buckingham Palace, and on to Windsor, where she will be finally laid to rest.
The Princess Royal, 72, who is often described as the 'hardest-working royal', was the Queen's only daughter and the only woman to walk in the funeral procession as it made its way from the Palace at Westminster to Westminster Abbey today.
The mother-of-two was at the Queen’s bedside when she passed away on September 8 and has publicly mourned her mother in the days following her passing.
Princess Anne released a heartfelt statement earlier this week revealing how she was 'fortunate to share the last 24 hours of my dearest mother's life'.
The love and respect shown to the Queen on her journey from Balmoral to Edinburgh and onto London had been 'both humbling and uplifting', the Princess Royal said.
Anne's statement 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.'
She ended her statement with the words: 'To my mother, The Queen, thank you.'
