Huge crowds lined the streets to watch as the Queen's coffin completed its journey from Edinburgh to Buckingham Palace.
The coffin, draped in the Royal Standard flag, arrived at RAF Northolt in northwest London shortly before 7pm after receiving a guard of honour as it was placed on an aircraft in Edinburgh.
The Princess Royal flew from Edinburgh with her mother's coffin and released a statement saying it was "an honour and a privilege" to accompany the Queen on her final journeys.
On the route into central London, mourners gathered on both sides of the road to watch as the procession went past.
Some threw flowers towards the black hearse as a mark of respect to the Queen, whose coffin was illuminated within.
Three police motorbikes in tight formation led the way for the cortege, their blue lights flashing.
On the opposite side of the road, traffic was at a standstill and drivers got out of their vehicles to catch a glimpse of the procession as it went past.
The cortege travelled along the A40 and on Westbourne Terrace towards Marble Arch, down Park Lane and Hyde Park Corner and along Constitution Hill.
After a journey of about an hour, the procession drove down The Mall and arrived at Buckingham Palace.
Many people lining the street put down their umbrellas as a sign of respect and some wiped tears from their eyes.
Crowds gathered outside the palace cheered and applauded as the Queen's coffin passed through the gates.
Some called out "hip hip hooray" as the hearse drove under the arch.
Inside, three officers and 101 guardsmen from the 1st Battalion Coldstream Guards waited to give the procession the royal salute.
The Queen's coffin will rest in the Bow Room at the palace overnight.
On Wednesday it will be moved to Westminster Hall for the lying in state, which will continue until Monday morning.
Hundreds of thousands of mourners are expected to view the Queen's coffin and pay their respects.
After witnessing the arrival of the Queen's coffin, the King and Queen Consort later left Buckingham Palace.