Picture gallery: Funeral procession

The Queen Mother's funeral procession has taken place in London with thousands of mourners gathered along the route. People are preparing to wait hours to file past her coffin.

Horse guards moving into position ahead of the procession

Up to 1,700 service personnel took part in the procession

The Queen and her niece Lady Sarah Chatto leave Buckingham Palace

Irish Guardsmen escorted the coffin along the route

Viscount Linley with Princes William and Harry followed the coffin of their great-grandmother

In solemn step - Prince Charles and the Duke of Edinburgh lead the family cortege

The Queen's tribute to her mother read: "In loving memory, Lilibet"

The Queen Mother's coffin is set on a seven-foot high catafalque in Westminster Hall

Up to 20,000 people prepared to wait hours in a two-and-a-half mile queue to pay their respects