King Charles III has arrived at Buckingham Palace, where he will meet with Commonwealth general secretary Patricia Scotland.

Crowds lining the roads cheered and waved as his black car drove down The Mall and into the Palace gates accompanied by a motorcade of four cars and four police motorbikes.

Charles, 73, appeared teary-eyed as he could be seen waving to people through the car windows.

Children sat on top of parents’ shoulders and people took photos as they watched the new sovereign arrive.

Camilla, the new Queen Consort later arrived at Buckingham Palace separately to join Charles.

At 2pm Sunday afternoon, Charles will receive the Secretary General of the Commonwealth in the 1844 Room, before attending a reception with High Commissioners from countries where he is head of state at the royal residence's Bow Room.

Then at 3.30pm, Charles, who was proclaimed King at St James's Palace, receives the Dean of Windsor.

Guests include Foreign Secretary James Cleverly and High Commissioners for Antigua and Barbuda, Bahamas, Belize, Canada, Grenada, New Zealand, St Christopher and Nevis, St Lucia and St Vincent and the Grenadines, and the Honorary Consul of Tuvalu and the Acting High Commissioner for Australia.

Charles has a busy day of official duties, while his mother Queen Elizabeth II embarks on her final journey.

Her Majesty's coffin left Balmoral at around 10am Sunday morning as it began its journey to Edinburgh.

Draped with the Royal Standard of Scotland and with a wreath of flowers on top, the coffin has remained at rest in the Balmoral ballroom so that the late monarch’s loyal Balmoral estate workers can say their last goodbyes.

The wreath on the coffin is made up of flowers from the Balmoral estate including sweet peas – one of the Queen’s favourite flowers – dahlias, phlox, white heather and pine fir.

The oak coffin was lifted into a hearse by six of the estate’s gamekeepers, who have been tasked with the symbolic gesture, ready for a six-hour journey to Edinburgh. The Queen was played out of Balmoral by her piper.

The hearse was accompanied by her daughter Anne, Princess Royal and Sir Tim Laurence.

In Edinburgh, Ms Sturgeon and other party leaders in Scotland are expected to observe the coffin as it goes past the Scottish Parliament.

From there it will be taken into the Palace of Holyroodhouse, where it will remain for the night.

After the coffin arrives at the Palace of Holyroodhouse on Sunday, it will rest in the Throne Room until the afternoon of Monday.

It will then travel in a procession to St Giles' Cathedral, Edinburgh, along the Royal Mile with the King and the late Queen's other children the Princess Royal, the Duke of York and the Earl of Wessex following behind on foot, along with Anne's husband Admiral Sir Tim Laurence.

Camilla and the Countess of Wessex will follow by car and also attend the service in St Giles'.

On Tuesday evening, Princess Anne will accompany her mother’s body on an RAF flight back to London and on to Buckingham Palace, to be greeted by Charles and Camilla.

On Wednesday at 2.22pm, adorned with the Imperial State Crown, the coffin will be taken in procession on a Gun Carriage of the King’s Troop Royal Horse Artillery to the Palace of Westminster, where she will lie in state in Westminster Hall for four days.

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