Queen Elizabeth II will be laid to rest next to her beloved husband Prince Philip after a day full of historic and personal significance.

A funeral service has taken place at Westminster Abbey with hundreds of thousands of people lining the streets to pay their respects.

You can watch our continuous coverage on Sky News, and follow all the events on our website and apps.

This is what is happening.

At Wellington Arch, the coffin was transferred from the gun carriage to the state hearse to travel to Windsor.

People are lining the route out of central London along Great West Road, past Heathrow Airport and through Staines before reaching Windsor.

Queen arrives in Windsor

The State Hearse approached Shaw Farm Gate on Albert Road, Windsor, and joined the Procession.

It travelled up the Long Walk to St George's Chapel for the committal service.

Procession up the Long Walk

A procession was led by a dismounted attachment of the Household Cavalry, with pipers and drums and a band from the Coldstream Guards. Members of the Queen's personal staff followed.

The route was lined by members of the armed forces.

Royal Family join procession

The King and members of the Royal Family joined the procession in the Quadrangle at Windsor Castle.

Minute Guns were fired on the East Lawn by The King's Troop, Royal Horse Artillery, as both the Sebastopol Bell - captured in Crimea in 1856 - and the Curfew Tower Bell tolled concurrently.

The Procession will halt at the bottom of the West Steps of St George's Chapel in Horseshoe Cloister, where the bearer party will lift the coffin from the state hearse and carry it in Procession up the West Steps.

A guard of honour from the 1st Battalion Grenadier Guards will be formed, and the Queen's coffin will carried up the West Steps into the Chapel.

Committal service

Around 800 people, including members of the Queen's Household and Windsor estate staff, will attend the committal service.

The Dean of Windsor will lead the service, with prayers said by the rector of Sandringham, the minister of Crathie Kirk and the chaplain of Windsor Great Park.

The choir of St George's Chapel will sing during the service.

Prior to the final hymn, the Imperial State Crown, the orb and the sceptre will be removed from the Queen's coffin, and placed on the altar.

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At the end of the final hymn, the King will place the Queen's company camp colour of the Grenadier Guards on the coffin. At the same time, the Lord Chamberlain will "break" his wand of office and place it on the coffin.

The coffin will be lowered into the Royal Vault as the dean of Windsor reads a psalm.

The Queen's piper will play a lament as he walks away.

The Archbishop of Canterbury will give a blessing, and the national anthem is sung.

The service is expected to end at around 4.30pm.

7.30pm The burial

The burial service will be a deeply personal family occasion and entirely private. It will be conducted by the dean of Windsor.

The earth that will be scattered onto the coffin will have been gathered from the royal mausoleum at Frogmore.

The Queen's final resting place will be the King George VI memorial chapel, a small annex to the main chapel at Windsor - where her mother and father were buried, and where the ashes of her sister, Princess Margaret, are kept.

When Prince Philip died, he was temporarily laid to rest in the Royal Vault at St George's, but will now be moved to the memorial chapel to join the Queen, where they will lay in rest together.