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The Queen is staying in Buckingham Palace overnight before she is transported to lie in state ahead of her funeral. Prince William and Prince Harry will escort the coffin to Westminster.
King Charles III waved to the crowds outside Buckingham Palace before he and his sons walk behind the Queen's coffin as she leaves her London home for the final time
The Queen's coffin entered Westminster Hall as the choir of Westminster Abbey and the choir of His Majesty's Chapel Royal, St James's Palace, sang Psalm 139.
At 2.22pm Her Majesty was carried down The Mall on a gun carriage - a tradition dating back to the death of her great-grandmother Queen Victoria in 1901.