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Zara Tindall is supported by her husband Mike as she joins her cousin at service for the Queen

The Queen’s granddaughter Zara Tindall was pictured looking emotional as she joined other royals at the service in Westminster Hall today.   

Her Majesty’s children and grandchildren, led by King Charles III, delivered her to Westminster where she is laid to rest after a short service that the late monarch had put together with the Church of England before she died aged 96. Meanwhile, the Queen Consort followed by car, with the Countess of Wessex and the Duchess of Sussex in another. 

The Queen’s coffin entered Westminster Hall as the choir of Westminster Abbey and the choir of His Majesty’s Chapel Royal, St James’s Palace, sang Psalm 139. The Archbishop of Canterbury then read the opening prayer, which the King led the royals in reciting.

Zara Tindall, 41, appeared deep in thought as she took in the ceremony, standing next her husband Mike Tindall, 43, and her cousin Princess Eugenie with her husband Jack Brooksbank.

Zara and Mike Tindall held hands as they walked together in Westminster Hall, where the Queen is laying in state until Monday

Zara and Mike Tindall held hands as they walked together in Westminster Hall, where the Queen is laying in state until Monday

Zara was dressed in a black dress with a turned-over collar and an understated black belt. She paired her outfit with black heels and a dark purse

Zara was dressed in a black dress with a turned-over collar and an understated black belt. She paired her outfit with black heels and a dark purse

Zara was dressed in a black dress with a turned-over collar and an understated black belt. She paired her outfit with black heels and a dark purse

Her husband Mike looked solemn as he stood beside his wife after the body of Her Majesty The Queen was conveyed into Westminster Hall

Her husband Mike looked solemn as he stood beside his wife after the body of Her Majesty The Queen was conveyed into Westminster Hall

Her husband Mike looked solemn as he stood beside his wife after the body of Her Majesty The Queen was conveyed into Westminster Hall

Zara Tindall, 41, appeared deep in thought as she took in the ceremony, standing next her husband Mike Tindall, 43

Zara Tindall, 41, appeared deep in thought as she took in the ceremony, standing next her husband Mike Tindall, 43

Zara Tindall, 41, appeared deep in thought as she took in the ceremony, standing next her husband Mike Tindall, 43

Mourning: Zara Tindall, pictured here with her husband Mike Tindall, was among the royals who paid their respects to Her Majesty after the procession

Mourning: Zara Tindall, pictured here with her husband Mike Tindall, was among the royals who paid their respects to Her Majesty after the procession

Mourning: Zara Tindall, pictured here with her husband Mike Tindall, was among the royals who paid their respects to Her Majesty after the procession

The Queen's granddaughter Zara Tindall was pictured looking emotional as she joined other royals at the service in Westminster Hall today (pictured L-R: Mike Tindall, Zara Tindall, Princess Eugenie and Jack Brooksbank)

The Queen's granddaughter Zara Tindall was pictured looking emotional as she joined other royals at the service in Westminster Hall today (pictured L-R: Mike Tindall, Zara Tindall, Princess Eugenie and Jack Brooksbank)

The Queen’s granddaughter Zara Tindall was pictured looking emotional as she joined other royals at the service in Westminster Hall today (pictured L-R: Mike Tindall, Zara Tindall, Princess Eugenie and Jack Brooksbank)

Zara Tindall was no doubt supported by her husband Mike (both pictured) during the moving service, as she mourned her beloved grandmother the Queen

Zara Tindall was no doubt supported by her husband Mike (both pictured) during the moving service, as she mourned her beloved grandmother the Queen

Zara Tindall was no doubt supported by her husband Mike (both pictured) during the moving service, as she mourned her beloved grandmother the Queen 

The royal donned a traditional black midi dress and hat for the service, which followed the procession of the Queen's coffin from Buckingham Palace to Westminster Palace

The royal donned a traditional black midi dress and hat for the service, which followed the procession of the Queen's coffin from Buckingham Palace to Westminster Palace

The royal donned a traditional black midi dress and hat for the service, which followed the procession of the Queen’s coffin from Buckingham Palace to Westminster Palace

Family: as Zara attended the service, she was joined by her cousins Princess Beatrice and Princess Eugenie and their husbands (pictured L-R: Mike Tindall, Zara Tindall, Princess Eugenie and Jack Brooksbank, Edoardo Mapelli Mozzi, Princess Beatrice)

Family: as Zara attended the service, she was joined by her cousins Princess Beatrice and Princess Eugenie and their husbands (pictured L-R: Mike Tindall, Zara Tindall, Princess Eugenie and Jack Brooksbank, Edoardo Mapelli Mozzi, Princess Beatrice)

Family: as Zara attended the service, she was joined by her cousins Princess Beatrice and Princess Eugenie and their husbands (pictured L-R: Mike Tindall, Zara Tindall, Princess Eugenie and Jack Brooksbank, Edoardo Mapelli Mozzi, Princess Beatrice)

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.

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 procession poignantly passed the statue of the Queen’s parents King George VI and the Queen Mother which overlooks The Mall. 

The Imperial State Crown, worn by the Queen on the way back to Buckingham Palace after her Coronation, glittered in the daylight as the crowds held aloft their phones to capture the scenes.

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, Prince Harry, and and Tim Laurence)

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, Prince Harry, and and Tim Laurence)

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, Prince Harry, and and Tim Laurence)

The Princess Royal, pictured walking behind the Queen's coffin during the ceremonial procession from Buckingham Palace to Westminster Hall today

The Princess Royal, pictured walking behind the Queen's coffin during the ceremonial procession from Buckingham Palace to Westminster Hall today

The Princess Royal, pictured walking behind the Queen’s coffin during the ceremonial procession from Buckingham Palace to Westminster Hall today

Princess Anne was by her mother's side over the last 24-hours of her life, then accompanied her coffin as it was flown from Edinburgh to London yesterday

Princess Anne was by her mother's side over the last 24-hours of her life, then accompanied her coffin as it was flown from Edinburgh to London yesterday

Princess Anne was by her mother’s side over the last 24-hours of her life, then accompanied her coffin as it was flown from Edinburgh to London yesterday

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

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

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

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

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

Prince William, Prince of Wales, King Charles III, Prince Richard, Duke of Gloucester, Anne, Princess Royal and Prince Harry, Duke of Sussex walk behind the coffin

Prince William, Prince of Wales, King Charles III, Prince Richard, Duke of Gloucester, Anne, Princess Royal and Prince Harry, Duke of Sussex walk behind the coffin

Prince William, Prince of Wales, King Charles III, Prince Richard, Duke of Gloucester, Anne, Princess Royal and Prince Harry, Duke of Sussex walk behind the coffin

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

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

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

1663165337 151 King Charles Prince Andrew William Harry Princess Anne and Edward

1663165337 151 King Charles Prince Andrew William Harry Princess Anne and Edward

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

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

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

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

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. 

 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. 

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. 

The Queen enters Whitehall on the 1.2mile journey to Parliament to lie in state

The Queen enters Whitehall on the 1.2mile journey to Parliament to lie in state

The Queen enters Whitehall on the 1.2mile journey to Parliament to lie in state

Her Majesty was carried on the gun carriage that had also borne her parents when they died 50 years apart

Her Majesty was carried on the gun carriage that had also borne her parents when they died 50 years apart

Her Majesty was carried on the gun carriage that had also borne her parents when they died 50 years apart

Prince William stood next to his wife Kate, with Harry and Meghan, the Sussexes, behind them

Prince William stood next to his wife Kate, with Harry and Meghan, the Sussexes, behind them

Prince William stood next to his wife Kate, with Harry and Meghan, the Sussexes, behind them

The rincess of Wales and Sophie Wessex wore traditional mourning black as they attended Westminster Hall

The rincess of Wales and Sophie Wessex wore traditional mourning black as they attended Westminster Hall

The Duchess of Sussex wore traditional mourning black as she attended Westminster Hall

The Duchess of Sussex wore traditional mourning black as she attended Westminster Hall

Mourning: the Princess of Wales, Sophie Wessex, and the Duchess of Sussex wore traditional mourning black as they attended Westminster Hall

The Queen arrives at Westminster Hall, built almost 1,000 years ago and where previous monarchs have lied in state

The Queen arrives at Westminster Hall, built almost 1,000 years ago and where previous monarchs have lied in state

The Queen arrives at Westminster Hall, built almost 1,000 years ago and where previous monarchs have lied in state

The Queen is placed in Westminster Hall to lie in state for the nation to pay their respects

The Queen is placed in Westminster Hall to lie in state for the nation to pay their respects

The Queen is placed in Westminster Hall to lie in state for the nation to pay their respects 

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 extraordinary scene as the procession leaves Buckingham Palace - the Queen's home for most of her 96-year life

The extraordinary scene as the procession leaves Buckingham Palace - the Queen's home for most of her 96-year life

The extraordinary scene as the procession leaves Buckingham Palace – the Queen’s home for most of her 96-year life

The Life Guards march before the coffin of Queen Elizabeth II as it is taken to the Palace Of Westminster

The Life Guards march before the coffin of Queen Elizabeth II as it is taken to the Palace Of Westminster

The Life Guards march before the coffin of Queen Elizabeth II as it is taken to the Palace Of Westminster

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

Britain's Queen Camilla and Catherine, Princess of Wales are pictured during the procession

Britain's Queen Camilla and Catherine, Princess of Wales are pictured during the procession

Britain’s Queen Camilla and Catherine, Princess of Wales are pictured during the procession

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.

Britain's Prince Harry, Duke of Sussex walks behind the coffin of Queen Elizabeth II, adorned with a Royal Standard and the Imperial State Crown and pulled by a Gun Carriage of The King's Troop Royal Horse Artillery,

Britain's Prince Harry, Duke of Sussex walks behind the coffin of Queen Elizabeth II, adorned with a Royal Standard and the Imperial State Crown and pulled by a Gun Carriage of The King's Troop Royal Horse Artillery,

Britain’s Prince Harry, Duke of Sussex walks behind the coffin of Queen Elizabeth II, adorned with a Royal Standard and the Imperial State Crown and pulled by a Gun Carriage of The King’s Troop Royal Horse Artillery,

The brothers have become estranged but have appeared in public twice together in the past week since the Queen's death

The brothers have become estranged but have appeared in public twice together in the past week since the Queen's death

The brothers have become estranged but have appeared in public twice together in the past week since the Queen’s death

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.