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Princess Anne supports her brother King Charles as the siblings walk behind the late Queen’s coffin

Princess Anne donned a ceremonial Navy uniform as she marched behind the coffin of her mother as it left Buckingham Palace for the final time today.

She joined King Charles, and Princes William and Harry – along with the Duke of York and the Earl of Wessex – following the coffin on foot as it left Buckingham Palace to make its 38-minute journey in front of thousands of mourners lining the streets in central London.  

Her Majesty spent her final night in the Bow Room of her London home, before being conveyed on a gun carriage to Westminster Hall where she will lie in state for four days until her funeral on Monday.

More than 1million people are expected to queue in central London for up to 35 hours to walk past her casket – but experts believe only 400,000 will make it inside meaning 600,000 people will be left disappointed. 

Princess Anne (centre) joined other members of the royal family as they followed the Queen's coffin as it travelled from Buckingham Palace to Westminster Hall (pictured L-R: Prince William, King Charles, and Prince Harry)

Princess Anne (centre) joined other members of the royal family as they followed the Queen’s coffin as it travelled from Buckingham Palace to Westminster Hall (pictured L-R: Prince William, King Charles, and Prince Harry)

Procession: members of the royal family, including Princess Anne, left Buckingham Palace to march behind the Queen's coffin today

Procession: members of the royal family, including Princess Anne, left Buckingham Palace to march behind the Queen's coffin today

Procession: members of the royal family, including Princess Anne, left Buckingham Palace to march behind the Queen’s coffin today

King Charles marched with his sister the Princess Royal, who has stayed with their mother's coffin since she died

King Charles marched with his sister the Princess Royal, who has stayed with their mother's coffin since she died

King Charles marched with his sister the Princess Royal, who has stayed with their mother’s coffin since she died

King Charles, Princess Anne, the Prince of Wales and the Duke of Sussex walked together

King Charles, Princess Anne, the Prince of Wales and the Duke of Sussex walked together

King Charles, Princess Anne, the Prince of Wales and the Duke of Sussex walked together

The royals looked solemn during the procession, perhaps reflecting on the life of Her Majesty

The royals looked solemn during the procession, perhaps reflecting on the life of Her Majesty

The royals looked solemn during the procession, perhaps reflecting on the life of Her Majesty

Princess Anne (second left) marches behind the coffin of her mother as it left Buckingham Palace for the final time today

Princess Anne (second left) marches behind the coffin of her mother as it left Buckingham Palace for the final time today

Princess Anne (second left) marches behind the coffin of her mother as it left Buckingham Palace for the final time today

The Princess Royal donned her decorative royal navy uniform for the occasion

The Princess Royal donned her decorative royal navy uniform for the occasion

The Princess Royal donned her decorative royal navy uniform for the occasion

Alongside Anne, King Charles, Prince William, and Prince Edward also donned military garb

Alongside Anne, King Charles, Prince William, and Prince Edward also donned military garb

Alongside Anne, King Charles, Prince William, and Prince Edward also donned military garb

The Queen's children including the King and her grandchildren, including William, Harry and Peter Phillips make the mournful journey to Westminster Hall

The Queen's children including the King and her grandchildren, including William, Harry and Peter Phillips make the mournful journey to Westminster Hall

The Queen’s children including the King and her grandchildren, including William, Harry and Peter Phillips make the mournful journey to Westminster Hall

The Queen arrived at Buckingham Palace last night to tears and cheers from the huge crowds who stood in the pouring rain to welcome her home after her death at Balmoral last Thursday. The route from RAF Northolt to the palace was packed. There was a wave of lights as many raised their mobile phones in the air to film the hearse as it passed.

As the hearse drove through the gates, Charles could be seen bowing his head with Harry and Meghan stood solemnly behind the monarch. 

At 2.22pm exactly this afternoon, the Queen’s coffin was placed on a gun carriage and lead a procession down a packed Mall, along Whitehall and then into Parliament Square before entering the Palace of Westminster followed by her son, the new King, and her children and grandchildren.

The near 1,000-year-old Westminster Hall is where her father King George VI would lie in state in 1952 and where the public could pass the coffin of her mother, the Queen Mother, in 2002. 

Her Majesty's coffin was adorned with a Royal Standard and the Imperial State Crown and pulled by a Gun Carriage of The King's Troop Royal Horse Artillery during the procession

Her Majesty's coffin was adorned with a Royal Standard and the Imperial State Crown and pulled by a Gun Carriage of The King's Troop Royal Horse Artillery during the procession

Her Majesty’s coffin was adorned with a Royal Standard and the Imperial State Crown and pulled by a Gun Carriage of The King’s Troop Royal Horse Artillery during the procession

The Queen's coffin was adorned with the glittering, priceless Imperial State Crown on a purple velvet cushion

The Queen's coffin was adorned with the glittering, priceless Imperial State Crown on a purple velvet cushion

The Queen’s coffin was adorned with the glittering, priceless Imperial State Crown on a purple velvet cushion

1663163954 788 Princess Anne supports her brother King Charles as the siblings

1663163954 788 Princess Anne supports her brother King Charles as the siblings

Britain’s King Charles and Britain’s William, Prince of Wales march during the procession

Britain's King Charles marches during a procession where the coffin of Britain's Queen Elizabeth is transported from Buckingham Palace to the Houses of Parliament for her lying in state

Britain's King Charles marches during a procession where the coffin of Britain's Queen Elizabeth is transported from Buckingham Palace to the Houses of Parliament for her lying in state

Britain’s King Charles marches during a procession where the coffin of Britain’s Queen Elizabeth is transported from Buckingham Palace to the Houses of Parliament for her lying in state

The Queen's funeral cortege makes its way along The Mall from Buckingham Palace

The Queen's funeral cortege makes its way along The Mall from Buckingham Palace

The Queen’s funeral cortege makes its way along The Mall from Buckingham Palace

The Queen was carried on a carriage in a tradition adopted by Queen Victoria when she died

The Queen was carried on a carriage in a tradition adopted by Queen Victoria when she died

The Queen was carried on a carriage in a tradition adopted by Queen Victoria when she died

Thousands of people gathered to watch the Her Majesty leave Buckingham Palace for the final time today

Thousands of people gathered to watch the Her Majesty leave Buckingham Palace for the final time today

Thousands of people gathered to watch the Her Majesty leave Buckingham Palace for the final time today

Huge crowds turned out to witness history with viewing areas full before the procession began

Huge crowds turned out to witness history with viewing areas full before the procession began

Huge crowds turned out to witness history with viewing areas full before the procession began

Her Majesty's closed coffin was placed on a catafalque - a raised platform, covered in the Royal Standard with the orb and sceptre placed on top

Her Majesty's closed coffin was placed on a catafalque - a raised platform, covered in the Royal Standard with the orb and sceptre placed on top

Her Majesty’s closed coffin was placed on a catafalque – a raised platform, covered in the Royal Standard with the orb and sceptre placed on top

There were huge crowds again to see the Queen on her final journey before her coffin is handed to the nation

There were huge crowds again to see the Queen on her final journey before her coffin is handed to the nation

There were huge crowds again to see the Queen on her final journey before her coffin is handed to the nation

There were tears in the crowds as the nation said goodbye to its longest-reigning monarch

There were tears in the crowds as the nation said goodbye to its longest-reigning monarch

Bystanders cried as the nation said goodbye to its longest-reigning monarch during the procession today

Bystanders cried as the nation said goodbye to its longest-reigning monarch during the procession today

Tears: people who’d come to pay tribute to the Queen were seen shedding tears, as the nation said goodbye to its longest-reigning monarch

Her Majesty’s closed coffin was placed on a catafalque – a raised platform, covered in the Royal Standard with the orb and sceptre placed on top.

The Queen will lie in state for four and a half days. A round-the-clock vigil will be mounted under the catafalque by officers of the Household Division, the King’s Body Guards of the Honourable Corps of Gentlemen at Arms, the King’s Body Guard for Scotland, the Royal Company of Archers and the King’s Body Guard the Yeomen of the Guard.

The Queen Consort Camilla and the Princess of Wales travelled in the first limousine behind the coffin

The Queen Consort Camilla and the Princess of Wales travelled in the first limousine behind the coffin

The Queen Consort Camilla and the Princess of Wales travelled in the first limousine behind the coffin

Meghan, Duchess of Sussex, travelled to Westminster with Sophie, Countess of Wessex

Meghan, Duchess of Sussex, travelled to Westminster with Sophie, Countess of Wessex

Meghan, Duchess of Sussex, travelled to Westminster with Sophie, Countess of Wessex

It will remain open 24 hours a day until at 6.30am on Monday. 

Hundreds of thousands of people are expected to line the streets to pay their respects to the Queen.

The queue is expected to stretch for five miles, taking up to 30 hours to reach the front.

Once people have passed through Albert Embankment, they will be directed across Lambeth Bridge, into Victoria Tower Gardens  

Extra welfare facilities, including toilets and water fountains, have been placed sporadically along the route.  

The Queen's coffin arrived at RAF Northolt in west London yesterday

The Queen's coffin arrived at RAF Northolt in west London yesterday

The Queen’s coffin arrived at RAF Northolt in west London yesterday

The Queen's Colour Squadron carrying Her Majesty the Queen's coffin off the plane at RAF Northolt

The Queen's Colour Squadron carrying Her Majesty the Queen's coffin off the plane at RAF Northolt

The Queen’s Colour Squadron carrying Her Majesty the Queen’s coffin off the plane at RAF Northolt

The state hearse carried the Queen's coffin into Buckingham Palace, where was received by the whole Royal Family

The state hearse carried the Queen's coffin into Buckingham Palace, where was received by the whole Royal Family

The state hearse carried the Queen’s coffin into Buckingham Palace, where was received by the whole Royal Family

The Queen's coffin arriving at Buckingham Palace as thousands of mourners applauded the late monarch

The Queen's coffin arriving at Buckingham Palace as thousands of mourners applauded the late monarch

The Queen’s coffin arriving at Buckingham Palace as thousands of mourners applauded the late monarch

The hearse carrying the coffin of Queen Elizabeth arrives at Buckingham Palace

The hearse carrying the coffin of Queen Elizabeth arrives at Buckingham Palace

The hearse carrying the coffin of Queen Elizabeth arrives at Buckingham Palace

The state hearse carries the Queen's coffin through the gates of the palace as the crowd erupted in cheers and applause

The state hearse carries the Queen's coffin through the gates of the palace as the crowd erupted in cheers and applause

The state hearse carries the Queen’s coffin through the gates of the palace as the crowd erupted in cheers and applause

Her Majesty spent her last night at Buckingham Palace yesterday, watched closely by a rota of former chaplains, before being moved today to allow hundreds of thousands of well-wishers to pay their respects.

Prayers and a service reserved for close family members took place shortly after the coffin arrived last night, with the King, Camilla, William and Kate and Harry and Meghan all in attendance.

Princess Anne, who has travelled with her mother’s coffin from Balmoral to Edinburgh, and from the Scottish capital back to London, was also present with husband Vice Admiral Sir Timothy Laurence. 

Peter Phillips, his sister Zara, Mike Tindall, the Duke of York and daughters Beatrice and Eugenie, along with their husbands Edoardo Mapelli Mozzi and Jack Brooksbank – were also among those gathered.

But Sarah Ferguson, ex-wife of Prince Andrew and who still lives with the duke, did not receive an invite because of their divorce. 

Ahead of Her Majesty’s arrival at Buckingham Palace yesterday,  Princess Anne released a statement about the death of her mother, which described how she was ‘fortunate to share the last 24 hours of my dearest mother’s life’.

She said the love and respect shown to the Queen on her journey from Balmoral to Edinburgh and onto London had been ‘both humbling and uplifting’.

Anne also thanked the nation for the ‘support and understanding offered to my dear brother Charles’ as he takes on his duties as King.

1663163956 60 Princess Anne supports her brother King Charles as the siblings

1663163956 60 Princess Anne supports her brother King Charles as the siblings

Statement: Princess Anne released this statement (pictured) today. She offered her ‘thanks to each and every one who share our sense of loss’

Princess Anne's statement was shared to the Royal Family's Instagram account along with the above photograph, which was first released to mark the late monarch's 90th birthday in 2016. The mother and daughter posed on a sofa in the White Drawing Room of Windsor Castle

Princess Anne's statement was shared to the Royal Family's Instagram account along with the above photograph, which was first released to mark the late monarch's 90th birthday in 2016. The mother and daughter posed on a sofa in the White Drawing Room of Windsor Castle

Princess Anne’s statement was shared to the Royal Family’s Instagram account along with the above photograph, which was first released to mark the late monarch’s 90th birthday in 2016. The mother and daughter posed on a sofa in the White Drawing Room of Windsor Castle

She ended her statement with the words: ‘To my mother, The Queen, thank you.’ 

Her tribute was shared to the Royal Family’s Instagram account.

It was accompanied by a photo of Anne and the Queen, which was first released to mark the late monarch’s 90th birthday in 2016. 

The mother and daughter posed on a sofa in the White Drawing Room of Windsor Castle.

The princess was in Scotland when the Queen was taken ill, and stayed at her bedside at Balmoral Castle, as senior royals rushed to say their final farewells. 

Anne took on the duty of accompanying her mother’s body back to London, as the Queen left Scotland for the last time bound for RAF Northolt on Tuesday.   

Earlier this week, Anne made history when she became the first royal woman to take part in the ‘Vigil of Princes’ – standing vigil by her mother’s coffin alongside her brothers King Charles, Prince Andrew, and Prince Edward.