The streets of London were packed with thousands of mourners who turned out to watch as the Queen's coffin was taken to Westminster Hall in a procession led by the King, his siblings and his sons.
The carriage carrying the Queen's oak coffin left Buckingham Palace at 2.22pm.
Union flags waved above the crowds, who were packed in behind temporary barriers.
The procession was just over a mile long and took in two of London's most famous thoroughfares, The Mall and Whitehall.
Some people could be seen wiping away tears as the Queen's coffin made its way along the route.
The Queen is lying in state - watch our live stream as people pay their respects