Harry and William stand shoulder-to-shoulder as they pay respects to Queen

The Prince of Wales and the Duke of Sussex have united in honour of the Queen as her coffin was taken by procession from Buckingham Palace to its lying in state in Westminster Hall.

The brothers put on a united front – despite their long-running rift – as they joined King Charles and other senior royals on the coffin procession as the Queen left her London home for the final time.

William and Harry were positioned behind their father as part of the procession, which left the palace at 2.22pm, through the streets of London.

It brought back sad memories of when they walked behind the coffin of their mother Diana, Princess of Wales when they were just 15 and 12.

It was in marked contrast to Prince Philip's funeral last year, when the two brothers were separated by Peter Phillips, the Queen's eldest grandchild.

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Harry, who spent a decade in the forces including two tours of duty to Afghanistan, was not in military uniform, unlike William, because he is no longer a working royal.

Charles and his siblings appeared solemn as they walked behind the coffin to Westminster Hall.

The sun shone as the procession moved onto The Mall in central London and members of the crowd threw yellow roses into the road as the gun carriage passed them.

The last time Charles and his two sons were seen together in public was at the service of thanksgiving for the Queen in St Paul's Cathedral during the Platinum Jubilee celebrations in June.

But on that occasion, Harry and the Duchess of Sussex were seated some distance from Charles and William on the other side of the aisle in the second row.

In April 2021, Harry and William joined their father when they walked behind the Duke of Edinburgh's coffin at his funeral.

The brothers were separated by their cousin Peter Phillips, but he dropped back half a pace at one point so the siblings appeared closer together.

The Duke of York, the Princess Royal and the Earl of Wessex also formed part of the procession, while Anne's son Peter Phillips and her husband Vice Admiral Sir Tim Laurence, the Duke of Gloucester and the Earl of Snowdon also walked behind.

The Queen Consort, the Princess of Wales, the Countess of Wessex and the Duchess of Sussex travelled by car, while thousands lined the streets to catch a glimpse of the royal procession.

A service at Westminster Hall lasting around 20 minutes was led by the Archbishop of Canterbury accompanied by the Dean of Westminster.

The Queen has now been handed to the care of the nation and will lie in state until the day of her funeral.

Wednesday's procession follows an earlier moment of unity when William and Harry were seen with their wives during a mammoth walkabout on Saturday, two days after the Queen's death.

The brothers have a well-documented troubled relationship but the death of their grandmother saw them unexpectedly come together when they viewed floral tributes left to the late Queen at Windsor Castle.

William and the Princess of Wales joined Harry and Meghan as they arrived in the same vehicle and greeted well-wishers for around 40 minutes.

Hundreds of thousands of people are expected to pay their respects to the Queen over the next few days after queueing for hours.

Mourners joined the queue to attend the Queen's lying in state, which began at 5pm on Wednesday and continues until 6.30am on Monday, the day of the Queen’s funeral.