The world watched on as the Queen left Buckingham Palace for the last time, led by her son Charles, the new King, and his children William and Harry.
The Royal family walked alongside her Majesty's coffin from the Royal Family 's official residence to Westminster.
Prince William and Prince Harry stood shoulder to shoulder as they walked with their father. They were joined by the Queen's three other children Prince Andrew, Princess Anne and Prince Edward along with Anne's son Peter Phillips, her husband Vice Admiral Sir Tim Laurence, Earl of Snowden - Princess Margaret's son - and the Duke of Gloucester - a cousin of the Queen.