The Queen’s coffin arrived at the Palace of Holyroodhouse in Edinburgh after a six-hour journey through streets lined with members of the public from her Scottish home, Balmoral Castle.
It is the end of the first stage of what her eldest son, King Charles, described as his mother’s “last great journey”.
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Thousands of people paid their respects to the 96-year-old royal as the hearse slowly passed by, with cheers and applause ringing out as it traveled through the streets of Edinburgh.
Her oak coffin, draped in the Royal Standard of Scotland with a wreath of Balmoral flowers on top, was carried in a seven-car motorcade to the Scottish capital.
On arrival at the Palace of Holyroodhouse, the Queen’s coffin was removed from the hearse and carried inside the building by passengers.
The QueenHis only daughter, the Princess Royal, and her husband, Vice-Admiral Sir Timothy Laurence, were part of the royal procession traveling in a limousine directly behind the hearse.
The coffin will lie in state in the throne room overnight so staff at Holyroodhouse can pay their last respects.
On Monday afternoon it will be carried along the historic Royal Mile to the city’s St Giles’ Cathedral where a service will be held.
The procession will be joined by King Charles, Princess Royal and the Queen’s other children, the Duke of York and the Earl of Wessex who will follow on foot, along with Sir Timothy Lawrence.
The Queen Consort, Camilla and the Countess of Wessex will follow by car and also attend the service.
There will be a Princes’ Vigil with the king and other royals, after which the queen will lie in state, where the public can pay their respects for 24 hours.
The public viewing of the coffin starts at 5pm on Monday, but people have been warned of long waits and photography and recording are strictly prohibited.
During the journey from Balmoral to Edinburgh, some mourners threw flowers at the hearse, while others had tears in their eyes, describing the occasion as “very emotional”.
The group left the estate around 10am before passing through various villages, towns and cities.
The first was Ballater, the nearest village to Balmoral, where many locals regarded the Queen as a neighbour.
Hundreds lined its main street as the cortege slowly passed by.
One woman told Sky News she had driven eight hours from Cheshire to reach the village. He said: “I just wanted to be here today to let her down. He was the constant figure throughout my life.
“It has accumulated all the losses of the last few years.”
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In the town of Banchory, crowds again turned out in large numbers, with some applauding the cortege as it passed.
Sky royal commentator Alastair Bruce said: “A lovely salute from Banchory, a quiet gentle round of applause and some of them throwing flowers on the hearse path.”
About two hours into his journey, he reached the city of Aberdeen, where large crowds fell silent as they watched the cortege pass. Many brought their children to witness the historic moment.
Elizabeth Taylor, from Aberdeen, shed tears as she thought about what she had just seen.
He said: “It was very moving. It was respectful and it showed what they thought of the Queen. She certainly gave service to this country, even up until a few days before she died.”
The Princess Royal will fly to London with her mother’s body on Tuesday.
The events in Scotland are the first meticulously planned steps leading up the funeral at Westminster Abbey on Monday 19 September – a day that will be a holiday.