Princess Anne has now shared a touching tribute to the Queen as she travels with her coffin to make her final journey to Buckingham Palace.
The Princess Royal, who is accompanying the Queen's coffin on the journey from Scotland to London, has issued a statement paying tribute to her late mother saying: "It has been an honour and a privilege to accompany her on her final journeys."
Her emotional tribute says: "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 plane carrying the Queen’s coffin, accompanied by the Princess Royal, has taken off from Edinburgh Airport and is travelling to RAF Northolt in London.
Thousands turned out to the Palace this evening, as many wept while the Queen returned to her most iconic of homes.
The crowd fell into a respectful silence as the procession passed by, before they burst into polite applause and cheers in respect for the monarch.
Her Majesty's coffin will be received at the Palace by King Charles III and The Queen Consort.
The Queen's grandchildren will also meet the coffin at Buckingham Palace, with both William and Harry being joined by spouses Kate and Meghan.
Her Majesty's niece and nephew, children of the late Princess Margaret, Lady Sarah Chatto and Earl Snowdon will also be present at the private family gathering.
