Here is the hour-by-hour schedule for the Queen's funeral on Monday:
6.30am: Doors closed to the public for the Queen’s lying in state in Westminster Hall.
8am: The doors of Westminster Abbey opened and the congregation began taking their seats. Heads of state and overseas government representatives, including foreign royal families, governors general and realm prime ministers, gathered at the Royal Hospital Chelsea and "under collective arrangements" travelled to the Abbey.
The congregation also included some of the 200 people who were recognised in the Queen's birthday honours this year, including those who played a crucial role in responding to the COVID pandemic.
10.35am – Just after 10.35am, a bearer party, found by The Queen’s Company, 1st Battalion Grenadier Guards, lifted the coffin from the catafalque.
It was then carried in procession from Westminster Hall to the Royal Navy’s state gun carriage, which was positioned outside the building’s North Door.
10.44am: The Queen's coffin was moved to a gun carriage and taken by procession from Westminster Hall to Westminster Abbey.
The King led his family in marching behind the Queen's coffin as it was moved. He walked with the Princess Royal, Duke of York and Earl of Wessex and behind the quartet were the Queen's grandsons the Duke of Sussex, the Prince of Wales and Peter Phillips - Princess Anne's son.
They will be followed by the late monarch's son-in-law Vice Admiral Sir Tim Laurence, the Duke of Gloucester, the Queen's cousin, and her nephew the Earl of Snowdon.
10.52am: The procession arrived at the West Gate of Westminster Abbey where the bearer party lifted the coffin from the state gun carriage and carried it inside for the state funeral service.
11am: The funeral began in front of an invited audience of 2,000 people.
11.55am: The Last Post sounded and a national two-minute silence was held.
12pm: Reveille, the national anthem and a lament, played by the Queen’s Piper, brought the state funeral service to an end at approximately noon.
The coffin was then carried to the state gun carriage.
12.15pm: The coffin was moved through Parliament Square, Whitehall, Constitution Hill, the Mall, and taken to Wellington Arch. It was then taken to Windsor Castle in a journey that took around two hours.
The King and the Queen Consort, the Prince and Princess of Wales and members of the Royal Family departed for Windsor by car.
The procession with the coffin travelled west along the south end of Hyde Park before passing the Queen’s gate and heading along Cromwell Road.
It then travelled through Hammersmith and Chiswick, along the north bank of the River Thames, before heading down the Great West Road.
The Queen’s coffin was then driven south of Heathrow Airport and passed through Staines before entering the grounds of Windsor Castle through Shaw Farm Gate.
The slower route, sticking to A-roads rather than motorways, gave supporters of the Royal Family one last chance to say goodbye to the monarch.
3.25pm: Members of the Royal Family who did not join the procession arrived at St George's Chapel in Windsor for the committal service.
3.40pm: The King and other Royal Family members who walked in the procession joined it at the quadrangle on the north side as it passed into Engine Court.
3.53pm: The procession then halted at the bottom of the West Steps of St George’s Chapel in Horseshoe Cloister.
The bearer party lifted the coffin from the state hearse, from where it was carried in procession up the West Steps.
4pm: The Queen’s committal service took place at St George’s Chapel.
7.30pm: The Queen was buried together with the Duke of Edinburgh in King George VI's chapel in Windsor Castle in a private service at 7.30pm on Monday.
Watch: Military to escort Queen Elizabeth II coffin to Westminster Hall