Queen Elizabeth's coffin has spent one final night at Buckingham Palace before a procession to Westminster takes place overnight our time.
Princess Anne accompanied her mother on a flight from Edinburgh to Northolt, and was then driven in the state hearse through the packed streets of London, to the Palace.
There, the royal family had gathered for a final night alone, before the Queen lies in state for four days.
Our reporter Jake McKee and cameraman Nick Monro are in London.
