The royal family bid a final farewell to the Queen at the committal service at St George's Chapel in Windsor on Monday.
It followed the moving funeral service at Westminster Abbey in London, which saw over 2,000 guests in attendance.
Thousands of members of the public lined the Long Walk in Windsor to say their goodbyes to Queen Elizabeth II, who reigned for 70 years. As the Queen's coffin in the state hearse made its way down the 2.64 mile-long avenue, some of the crowd erupted in cheers, while others threw floral tributes.
King Charles was joined in the funeral procession by the Prince of Wales, the Duke of Sussex, the Princess Royal, the Earl of Wessex, Vice Admiral Sir Tim Laurence, the Duke of Gloucester and the Earl of Snowdon.
READ: Queen Elizabeth II funeral: The order of service for St George's Chapel revealed
WATCH: King Charles looks heartbroken as royals sing national anthem
The Queen Consort, the Princess of Wales, the Countess of Wessex and the Duchess of Sussex arrived at the service by car.
Having attended the state funeral in London, the Prince and Princess of Wales's eldest children, Prince George, nine, and Princess Charlotte, seven, also accompanied their parents at the Windsor service.
© Photo: RexMike and Zara Tindall seated with daughters Mia and Lena
All eight of the Queen's grandchildren were present at the service, including Princess Beatrice and her husband, Edoardo Mapelli Mozzi, and Princess Eugenie and her husband, Jack Brooksbank.
Zara Tindall and her husband, Mike, also arrived with their daughters, Mia, eight, and four-year-old Lena.
© Photo: Getty ImagesPrince George and Princess Charlotte also attended the Windsor service
Kate's parents, Carole and Michael Middleton, were among the guests at the committal service, as well as a number of world leaders and foreign royals.
The Waleses were seated alongside the Sussexes in the chapel, with Prince Harry spotted sharing a touching moment with his niece, Princess Charlotte.
© Photo: Getty ImagesThe Queen's corgis, Sandy and Muick
In a touching tribute to the late Queen, her beloved corgis, Sandy and Muick, made a special appearance outside the castle.
Emma, the Queen's Fell Pony, also greeted the procession, standing on grass in a gap in the floral tributes along the Long Walk in honour of her late owner.
MORE: Queen Elizabeth II's great-grandchildren attend funeral – live updates and photos
The Yorks arriving at the chapel
Upon arrival at St George's Chapel, the bearer party lifted the coffin from the hearse and carried it in procession up the steps before the committal service.
The State Hearse halted at the bottom of the West Steps before the coffin procession, with the royals in tow, entered the Chapel. The service was led by The Right Reverend David Conner, KCVO, Dean of Windsor.
MORE: Who is buried in the Royal Vault? Where is the Royal Vault?
The Queen's coffin is carried into the chapel
The service began with the choir singing Psalm 121, set to music by Sir Henry Walford Davies, who previously served as an organist of the chapel.
Over a number of years, the Queen was involved in discussions about the order of service for her funeral, to approve the choice of prayers, hymns and other accompanying music.
King Charles led the royals during the coffin procession
After the prayers and hymns, the Dean of Windsor read Revelation 21, verses one to seven. Other ministers read various prayers, including The Lord's Prayer.
The same passage was read at the funerals of the Queen's father King George VI in 1952 and her grandparents, King George V in 1936, and Queen Mary in 1953.
In silence, the Crown Jeweller then removed the Instruments of State from Her Majesty's coffin. The Orb, Sceptre and Crown was then placed upon the altar by the Dean of Windsor.
© Photo: Getty ImagesThe Queen's coffin in the state hearse makes its way into Windsor Castle
King Charles appeared emotional as those in attendance sang the national anthem.
As the Queen's coffin was lowered into the Royal Vault of St George's Chapel, the Dean of Windsor recited Psalm 103, which includes the traditional line: "Go forth upon thy journey from this world, O Christian soul".
The Dean of Windsor will later conduct a private burial service attended by the King and members of the royal family at 7.30pm.
The Queen will be buried with the Duke of Edinburgh at King George VI Memorial Chapel. Prince Philip died 17 months ago with his funeral taking place in Windsor in April 2021.
Buckingham Palace announced that the Queen had died peacefully at Balmoral on 8 September.
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