Queen Elizabeth II made her final journey from Buckingham Palace as her coffin was carried to Westminster Hall this afternoon.
Tens of thousands of people from around the world lined the streets to pay their respects and witness a moment in history and pay their respects to Britain's longest reigning monarch.
King Charles, Prince William and Prince Harry were all seen walking in the procession, which saw the Queen's coffin carried on top of a horse-drawn gun carriage.
The last time the King and his two sons were seen together in public was at the service of thanksgiving for the Queen in St Paul’s Cathedral during the June Platinum Jubilee celebrations.
The new monarch walked in line with his siblings, Princess Anne, Prince Andrew, and Prince Edward.
Behind the King were the Queen's grandsons in a line - Peter Phillips, Prince Harry and Prince William.
They were followed by the late monarch's son-in-law Vice Admiral Sir Tim Laurence, her cousin the Duke of Gloucester, and her nephew the Earl of Snowdown.
In bright summer sunshine, funeral marches played by military bands added to the solemn mood that left some mourners weeping, while others held up their camera phones to record the historic moment.
The Queen had arrived at her former home on Tuesday evening in gloom and rain but for her departure from the palace there was bright sunshine.
Shortly after the arrival of the coffin at Westminster Hall, US President Joe Biden said he had spoken to the King on Wednesday to offer his condolences on the death of his mother.