Queen Elizabeth II's coffin has left Buckingham Palace for the final time on a horsedrawn carriage.
Thousands lined the streets as King Charles III led the procession behind the coffin for the journey to Westminster Hall.
He was joined by senior royals including William, Prince of Wales, and Harry, Duke of Sussex.
The scene of the princes was reminiscent of when they followed their mother Princess Diana's coffin, 25 years ago.
King Charles III marched with Princess Anne on his left behind the coffin, followed by Prince Andrew and Prince Edward.
Prince William walked directly behind his father, with Prince Harry on his left.
Peter Phillips, the son of Princess Anne, marched next to Prince Harry.
The procession went through the Queen’s Gardens, up The Mall, along Horse Guards Road and through Horse Guards Arch.
It then went down Parliament Street, through Parliament Square and New Palace Yard to arrive at Westminster Hall.
Thousands waited for hours down The Mall and along the route.
Many captured the moment on their phones while others wiped away tears.
Applause broke out as the coffin passed through Horse Guards Parade.
People sat in Hyde Park and watched the screens broadcasting the procession.
For the service inside the hall, Meghan, the Duchess of Sussex, arrived in a car with Sophie, Countess of Wessex.
Meghan, Duchess of Sussex arrives at the Queen's service at Westminister Hall. (Reuters: Sarah Meyssonnier)
Camilla, Queen Consort and Catherine, Princess of Wales, arrived in a separate car.
Camilla, Queen Consort and Catherine, Princess of Wales, were driven behind the Queen's coffin.
The Queen's coffin will remain on public display for the Lying in State until the late monarch's funeral on Monday.
The coffin of Queen Elizabeth II before the service for the royal family at Westminster Hall.
Princess Kate and Sophie, Countess of Wessex, watch on as the Queen's coffin arrives at the hall where it will be until her funeral.
The queue to visit the Queen's coffin is expected to reach about seven kilometres in length.
The government has told the public to expect to stand for many hours and possibly overnight.