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EMOTIONAL members of the Royal Family today watched as the Queen's coffin was placed in the state hearse for its final journey before being laid to rest.

Thousands of mourners lined the streets as Her Majesty was driven to Windsor, where she is finally being reunited with her beloved Prince Philip.

King Charles salutes as his mother's coffin is transferred into the state hearseCredit: SkyNews

Her Majesty left London for Windsor for the last timeCredit: Reuters

The Bearer Party transferred the coffin into the State Hearse at Wellington ArchCredit: AFP

Thousands lined the streets as the procession made its way along the MallCredit: AP

The Royal Party left their cars at Wellington Arch in LondonCredit: AFP

Crowds cheered as the Royal cars drove pastCredit: Sky News

King Charles, pictured with his wife, the Queen Consort, and two sons William and Harry appeared deep in reflection as Her Majesty's coffin was transferred into the state hearse at Wellington ArchCredit: AP

Princess Charlotte and Prince George watched at the poignant journey unfoldedCredit: AFP

The hearse transporting the coffin, was covered in flowers thrown by mournersCredit: Reuters

The King gave a sombre salute as his mother's casket was transferred from a gun carriage to the state hearse at Wellington Arch, having travelled from Westminster following an emotional funeral service.

Charles, who frequently appeared close to tears throughout the day, was joined by siblings Andrew, Edward and Anne, as well as sons William and Harry.

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In one poignant moment, the bearer party lifted the Queen’s coffin from the State Gun Carriage into the glass-backed State Hearse, which Her Majesty helped design.

Bands of the Scots and Grenadier Guards then played a medley of the Queen's favourites, including Jerusalem and I Vow To Thee My Country.

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The Queen's coffin arrived at Windsor Great Park through Shaw Farm Gate on Albert Road, where tens of thousands of people gathered.

Incredible scenes saw the hearse travel up the Long Walk, through Cambridge Gate and George IV Gate to the Quadrangle, as thousands from the Queen's beloved Windsor watched.

It then made its way to St George's Chapel, where a televised committal service saw Her Majesty's coffin was lowered into a vault.

Earlier, 98 sailors pulled the ceremonial gun carriage carrying the Queen from Westminster Abbey, while another 40 marched behind.

Guardsman and members of the Armed Forces followed, all walking at 75 paces a minute to reach Wellington Arch.

The Queen Consort, Princess of Wales, Duchess of Sussex and Countess of Wessex followed by car.

In Whitehall, there was a hush from the crowd - 30-deep in places - as the procession moved past the Cabinet War Rooms, the Cenotaph and Downing Street.

Then, as the Queen's coffin moved along the route in front of her old home Buckingham Palace, every head in the crowd turned, with well-wishers spontaneously erupting into rounds of applause and shouts of "hip, hip hooray".

Members of the Royal Family remained expressionless as they circled round the Queen Victoria Memorial.

And further along, members of public emerged from balconies and windows, clad in black, while those on the street craned their necks and clutched cameras.

The procession of seven groups, each with a military band, travelled earlier via Parliament Square, Whitehall, Horse Guards Parade, The Mall, past Buckingham Palace and Constitution Hill to Wellington Arch at Hyde Park Corner.

A total of 1,000 armed forces from the UK and Commonwealth lined the mile-long route, while British Legion standard bearers flanked the Cenotaph, King’s Life Guards turned out on Horse Guards Parade and King’s Guard saluted the coffin near the Palace.

The King’s Troop Royal Horse Artillery fired minute guns in Hyde Park and Big Ben tolled during the procession.