The King and his two sons have reunited to walk behind the Queen’s coffin as she leaves Buckingham Palace for the last time.
King Charles, the Prince of Wales and Duke of Sussex are accompanying the late monarch on the journey to Westminster Hall for her lying in state.
They appeared solemn as they walked behind the coffin, which was wheeled along The Mall on a gun carriage.
A crown was placed on a purple cushion on top of the coffin in front of a wreath made of pine and lavender, featuring white roses, spray white roses and white dahlias.
Long queues form to see Queen’s coffin – follow latest updates
Crowds of mourners applauded as the Queen’s coffin and the procession moved past them.
William stared straight ahead as he walked directly behind his father, the King, in keeping with his place as the heir to the throne.
The King and his children are joined by the Duke of York, the Princess Royal and the Earl of Wessex, as well as Anne’s son Peter Phillips, her husband Vice Admiral Sir Tim Laurence, the Duke of Gloucester and the Earl of Snowdon.
The Queen Consort, Princess of Wales, Countess of Wessex and Duchess of Sussex will travel by car.
The procession left the palace at 2.22pm and is expected to arrive at Westminster Hall at 3pm.
Big Ben is tolling at one-minute intervals as the procession makes its way to the Palace of Westminster.
The crowds outside Buckingham Palace erupted into applause after the procession had passed.
A service lasting around 20 minutes will be led by the Archbishop of Canterbury, accompanied by the Dean of Westminster.
William and Harry have a well-documented troubled relationship, but after the death of their grandmother they and their wives came together to view flowers left for the Queen outside Windsor Castle.
They also put on a united front with their wives during a mammoth walkabout on Saturday.
Read more on the Queen:
The Queen’s final journey to lying in state – how you can pay respects
Route revealed for queue to see the Queen lying in state – and where you can take a break
Day-by-day guide to what happens until Elizabeth II’s funeral
In a televised address to the nation on Friday, the King talked of his love for Harry and Meghan, saying: “I want also to express my love for Harry and Meghan as they continue to build their lives overseas.”
In Harry’s tribute to his grandmother he said he wanted to honour his father at the start of his reign as King.
The last time King Charles and his 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.
Click to subscribe to the Sky News Daily wherever you get your podcasts
Mourners have already began to queue to attend the Queen’s lying in state, which begins at 5pm and will continue to 6.30am on Monday – the day of the Queen’s funeral.
The government has warned the queue is expected to be very long, with people standing for “many hours, possibly overnight,” with little opportunity to sit down.
