Watch: Mourners gather in Windsor for Prince Philip's funeral despite coronavirus restrictions
Prince Philip's funeral was held in Windsor Castle on Saturday afternoon.
Prince Philip's coffin was carried on a Land Rover he designed in the procession at 2.40pm.
The Queen sat alone during the service, as mourners follow social distancing regulations.
Princes William and Harry were separated by their cousin Peter Phillips in the procession - but left together.
The Queen sat alone as she led a small number of mourners in saying goodbye to Prince Philip in a funeral service shaped by the duke himself.
The Duke of Edinburgh's naval career permeated the service in St George's Chapel in Windsor Castle on Saturday afternoon, with references to the oceans and a hymn associated with seafarers.
Philip died on 9 April at the age of 99 in Windsor Castle.
The Queen followed the funeral procession through the grounds of the castle, joined in a state Bentley by a lady-in-waiting – the first time her husband has gone ahead of her in more than 60 years.
Behind the coffin, their children walked in pairs, first Prince Charles and Princess Anne and then Prince Edward and Prince Andrew.
Their grandsons, Prince William and Prince Harry, walked behind, with Peter Phillips in between.
Behind them were the Viscount Linley and Vice Admiral Sir Timothy Laurence. They did not wear masks during the procession, which was held outside.
Members of the Royal Family, including Prince Charles, Prince William and his wife Kate, and Mike and Zara Tindall, were seen arriving around lunchtime on Saturday.
Countess Mountbatten of Burma, Penny Knatchbull travelled to Windsor on Saturday; she was the only friend of the duke to be able to attend the slimmed down service.
Harry's wife Meghan Markle was confirmed to be watching proceedings from the US, where the couple now lives with their son Archie, who turns two next month.
Philip's favourite driving carriage was pulled by two of his ponies, Balmoral Nevis and Notlaw Storm, to stand in the Quadrangle of the castle as the procession passed by. He took up carriage driving in the 1970s and continued the sport well into his 90s.
The red container on the duke’s carriage seen next to his cap, whip and gloves, was the sugar lump pot, from which Philip used to give his ponies sugar lumps after carriage driving.
The hearse, a custom designed Land Rover, was driven through the Quadrangle as military bands played just before 2.29pm, ready to collect the coffin, with military precision of timing kept throughout.
The coffin was draped in Philip's standard and topped with a wreath of lilies and roses, chosen by the Queen. On top of it was his sword and his Naval cap.
Philip's funeral began with a nationwide one minute's silence at 3pm before the coffin was taken into the quire for the service, led by the Dean of Windsor and the Archbishop of Canterbury.
People in Windsor, and around the country, fell silent with the Royal Family at 3pm. The minute began with a round fired by the King’s Troop Royal Horse Artillery, and was ended the same way at Windsor.
There were no readings or eulogies from the Royal Family, in line with other royal funerals. The service was led by the Dean of Windsor, with the Archbishop of Canterbury.
Members of the British Royal Family and the duke's German family, paid tribute to him in the hours before the funeral.
His great-niece Princess Xania, whose brother Prince Phillipp was one of the 30 mourners at the ceremony, said: "To all of us, he was an idol, he was somebody to look up to, we had enormous respect for him and it was always very exciting when he came to visit, and he came often."
Mike Tindall, the husband of Zara, one of the duke's granddaughters, called him a "devoted family man who we will forever miss but always love".
The ceremony, which included many traditional elements of a Church of England funeral as well as several of his own requests, honoured the duke's "unwavering loyalty" to the Queen and the courage, fortitude and faith".
There were several readings but no sermon, in line with his wishes.
Watch: Prince Philip's funeral: How the day unfolded
After the service, the Queen exchanged a few words with the Dean of Windsor, before getting back into the car which brought her there with her lady-in-waiting.
But rather than drive away themselves, Charles led the other members of the Royal Family in a walk up the hill toward the state apartments of Windsor Castle.
It gave Princes Harry and William a moment to speak to one another, and they were seen exchanging a few words as they walked together.
The service was Prince Harry's first trip back to the UK since March 2020, when he and Meghan relocated to the US after deciding to step back from their senior royal duties.
It was also the first engagement for Prince Andrew, who is still stepped back from his duties, after a disastrous interview with BBC Newsnight in November 2019 about his friendship with Jeffrey Epstein.