Prince William and Kate, the Princess of Wales travelled together with Prince George and Princess Charlotte as the State Funeral begins.
Dressed in black, Princess Charlotte, 7, looked on from the car as thousands of well-wishers lined the streets of London.
Her mother Kate, also dressed in black is wearing a necklace to the service once worn by her late mother-in-law Diana.
Princess Diana wore the necklace in 1982 and it was worn by Kate for Prince Phillip's funeral last April.
The royal grandchildren and their mother shared a car in the funeral procession as the Queen's children followed her coffin with other senior royals as the late monarch was moved from Westminster Hall to Westminster Abbey.
Escorting the coffin on foot from the Palace are the King and his three siblings, Prince Andrew, Princess Anne and Prince Edward and the Queen's grandsons Peter Phillips, Prince William and Prince Harry, who stood shoulder to shoulder.
Meghan Markle and Sophie, Countess of Wessex followed behind Camilla and Kate in a different vehicle in order of their royal status.
Camilla is married to the new King, Charles III, while Kate wed the heir to the throne, Prince William, who she shares three children with.
A funeral service for the Queen is going ahead with 2,000 people filling Westminster Abbey.
The Queen will later be laid to rest alongside her beloved husband, Prince Philip, the Duke of Edinburgh, in a private burial at St George VI's chapel at Windsor Castle.
William and Kate have made a number of public appearances since the death of William's grandmother last Thursday, attending vigils and admiring tributes to the Queen outside the palaces.
The Prince and Princess were seen at the main gates to Sandringham House in Norfolk on Thursday afternoon where they viewed the floral tributes to the Queen and spoke with well-wishers.
And the Prince and Princess of Wales reunited with Prince Harry and Meghan Markle to view some of the tributes left at Windsor Castle last Saturday, following the death of the Queen.
However, the the youngest members of the family, Prince George, Princess Charlotte and Prince Louis have stayed out of the public eye and have reportedly continued to attend classes at their new school throughout the mourning period.
Since the Queen's death, Kate has been pictured dressed all in black while picking the children up from Lambrook School in Berkshire, near their new home in Windsor.
George, Charlotte and Louis only started at their new school one day before the Queen's death.
Meanwhile, Camilla has busy by Charles' side meeting mourners, world leaders and estranged family members as he publicly grieves the loss of his beloved mother over the days after her death.
The King and Queen Consort met mourners gathered by the gates of Buckingham Palace the day after the Queen died and just days later, Charles addressed Parliament for the first time.
The Queen's State Funeral will begin at 11am, conducted by Dean of Westminster.
The Prime Minister and the Secretary General of the Commonwealth will read Lessons, while the Archbishop of York, the Cardinal Archbishop of Westminster, the Moderator of the General Assembly of the Church of Scotland and the Free Churches Moderator will say Prayers.
Upon the closing of the funeral service around noon, the King and Camilla, Prince William and Kate, and members of the Royal Family will walk in the procession to Wellington Arch before attending the committal service at Windsor Castle.
At 7.30pm the Queen will be buried in King George VI's chapel in Windsor Castle in a private service for immediate family.
