Photos: Prince William, Prince Harry and wives pay respects to Queen after united procession to Westminster Hall

Thousands lined the streets to view Queen's coffin in procession to Westminster Hall on Wednesday.

The Prince of Wales and the Duke of Sussex walked side-by-side as they joined King Charles to walk behind the Queen’s coffin as it was taken in a solemn procession to its Lying-in-State.

The late monarch left Buckingham Palace for the final time as her coffin made its way to Westminster Hall to lie in state.

William and Harry were positioned behind their father as part of the procession through the streets of London, which left the palace at 2.22pm.

The last time Charles and his two sons were all 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.

A service at Westminster Hall was led by the Archbishop of Canterbury accompanied by the Dean of Westminster. The Princes and their wives, the Princess of Wales Kate Middleton and Duchess of Sussex, Meghan Markle were seen looking sombre in black, adorned with tokens from the Queen.

Hundreds of thousands of people are expected to pay their respects to the Queen over the next few days after queueing for hours.

Mourners joined the queue to attend the Queen’s lying in state, which begins at 5pm, continuing until 6.30am on Monday, 19 September, the day of the Queen’s funeral.

With files from Yahoo News UK