King, William, Harry, Anne, Edward, Philip Walk Behind Queen Elizabeth's Coffin

The Queen’s coffin has left Buckingham Palace for the final time as the royal family accompanies their matriarch on foot on the journey to Westminster Hall.

The procession saw the Queen’s coffin leave the palace at 2.22pm.

The coffin, which had been followed by the King with his three siblings - Princess Anne, Prince Andrew, and Prince Edward, arrived at Westminster Hall shortly after 3pm.