King Charles has arrived at the Palace of Westminster for the Queen's state funeral at Westminster Abbey.

Charles and the William, Prince of Wales arrived in one vehicle, while the Duke of Sussex and Peter Phillips emerged from the car behind.

The King and members of the royal family arrived at the Palace of Westminster after driving the short distance from Buckingham Palace.

Charles waved at well-wishers from the back seat of his vehicle, which was one of four cars to arrive at Westminster Hall.

There were cheers from the crowds as the cars drove past, with the streets packed full of people trying to get a glimpse at the King.

The King arrived at the North Door of Westminster Hall at around 10.34am.

The State Gun Carriage carrying the Queen’s coffin began its funeral procession from the Palace of Westminster to Westminster Abbey.

The coffin has been draped in the Royal Standard and carries the Imperial State Crown and a wreath of flowers containing plants from the gardens of Buckingham Palace, Clarence House and Highgrove House.

Leading the procession are around 200 pipers and drummers of Scottish and Irish Regiments, the Brigade of Gurkhas and RAF.

Walking behind the carriage are King Charles and his siblings, followed by the Prince of Wales, Duke of Sussex and Peter Phillips.

The King and other royals, including the Princess Royal, the Prince of Wales and the Earl of Wessex were all wearing military uniform.

Andrew, Duke of York and Harry, Duke of Sussex, who are no longer working royals, wore suits as they marched behind the carriage.

All looked sombre as they followed the carriage towards Westminster Abbey for the Queen’s state funeral.

The State Gun Carriage has also been previously used for the funerals of King Edward VII, King George V, King George VI, Winston Churchill, and Lord Mountbatten.

The Queen’s coffin arrived at Westminster Abbey and was carried inside by the bearer party of Grenadier Guards ahead of the state funeral service.

The short procession from Westminster Hall, to the sound of bagpipes and with Big Ben tolling, took around eight minutes.

The doors of Westminster Abbey opened at 8am this morning for guests including world leaders such as US President Joe Biden, foreign dignitaries and politicians to take their seats.

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