Thousands gathered to witness first-hand the moment the Queen left Buckingham Palace for the very last time.

Her Majesty's children, the King, the Princess Royal, the Duke of York and the Earl of Wessex, walked directly behind her coffin.

Prince William and Prince Harry also joined the procession from the Palace to the ancient Westminster Hall where the Queen will lie in state.

Hundreds of thousands of people are expected to pay their respects after braving the queue for hours, with some having camped out overnight.

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