Image source, Reuters

Before the minute's silence for the duke, the Queen's car arrived at the chapel as the national anthem played. She went inside to be met by the Archbishop of Canterbury.

The coffin is removed from the Land Rover which carried it, and taken to the West Steps. There it rests as the minute's silence begins.

Music was played by the tri-service band in the Quadrangle of Windsor Castle before the arrival of the coffin.

The pieces played were I Vow to Thee My Country, Supreme Sacrifice, Jerusalem, Isle of Beauty and Nimrord.

As the funeral procession stepped off, the Band of the Grenadier Guards played Beethoven Funeral March No1 and Beethoven Funeral March No3.

Prince Philip's eldest children - the Prince of Wales and Princess Royal - are in the lead group and are followed by their siblings the Earl of Wessex and Duke of York.

In the third row is the Duke of Sussex and Duke of Cambridge and between the two royal brothers is their cousin Peter Phillips.

Vice Admiral Tim Lawrence, the Princess Royal's husband, and the Queen's nephew the Earl of Snowdon are the final members of the family taking part.

Grenadier Guardsmen carrying the duke's coffin emerged from the castle's state entrance and placed it in the specially-created Land Rover.

Members of the royal family are walking in the funeral procession behind the coffin.

The Queen has left Windsor Castle to attend the funeral of her husband.

It is the first time she has been officially seen in public since she announced Prince Philip had died.

The national anthem was played by military musicians after the Queen, joined by a Lady-in-Waiting, left the Sovereign’s entrance.

A Bentley carrying the head of state and her Lady-in-Waiting took up its place at the back of the funeral procession.

The duke's coffin has begun its journey to St George's Chapel with the bearer party lifting it from its resting place in the castle's inner hall and walking towards the state entrance.

Members of Prince Philip's household who will walk behind the royal family in his funeral procession are taking up their positions.

The most senior figure is the duke's private secretary Brigadier Archie Miller-Bakewell and he is joined by Philip's former Metropolitan Police personal protection officer and his two former valets and two ex-pages.

Military bands play music selected by the duke, including Jerusalem and Elgar's Nimrod, as troops bow their heads and the Land Rover - which will act as a hearse - is driven into the quadrangle.

Image source, PA Media

Members of the Royal Family not taking part in the procession are arriving at St George's Chapel by car. They include the Duchess of Cambridge, above, the Duchess of Cornwall, the Countess of Wessex and her children Viscount Severn and Lady Louise Windsor.

Zara and Mike Tindall, Princess Beatrice and her husband Edoardo Mapelli Mozzi, Princess Eugenie and her husband Jack Brooksbank also travelled by car. They were joined by the Queen's first cousins Princess Alexandra, the Duke of Gloucester and the Duke of Kent.

Meghan, the Duchess of Sussex will be watching from home in California, her press secretary says.

She was hopeful to be able to attend, but was not cleared for travel by her physician at this stage of her pregnancy, a statement says.

Meghan has handwritten a card to accompany a wreath she and Prince Harry chose for the Duke of Edinburgh.

The wreath was designed and handmade by Willow Crossley who was also chosen by the couple for the flower arrangements for the evening portion of their wedding in Frogmore Gardens at Windsor Home Park, Archie’s Christening at the private chapel in Windsor Castle, and the launch event for the Hubb Community cookbook at Kensington Palace.

Broadcaster and natural historian Sir David Attenborough pays tribute to Prince Philip's work on raising awareness of conservation, saying the duke "was right in there at the beginning".

The prince took an interest in conservation as early as the middle of the last century, Sir David tells the BBC, adding: "When in fact the world of conservation had hardly opened up, he saw it here, but he also saw it universally."

The WWF, or the World Wildlife Fund as it was previously called, "owed a huge amount to him - to his presence - and the fact that he made it a real issue, an important issue, not something to be brushed aside".

"When he spoke about it, he spoke with the passion of a man who both cared about it, but also knew about it, knew about it a lot."

Speaking about his experience meeting Prince Philip, Sir David says: “The fact that he was a serving officer in the British Navy, that was with him all the time. At least it was in my view.

"I was in the Navy too, a long time after the war, but I know when the commanding officer comes on board. And you knew that when he arrived."

A specially-modified Land Rover hearse, which Prince Philip helped to design over 16 years, has arrived at Windsor Castle.

The vehicle was manufactured at Land Rover's factory in Solihull in 2003. The duke requested the vehicle be repainted in military green and helped to design the open top rear of the car. Find our more here.

The duke's favourite driving carriage, accompanied by two of his grooms, has arrived ahead of the funeral.

It is pulled by his two trusty black Fell ponies, Balmoral Nevis and Notlaw Storm, and will stand in the Quadrangle when the funeral procession goes past - which was a personal wish of the duke's.

His cap and whip were placed on the seat of the carriage.

We are leading up now to the beginning of the funeral procession.

The route from the state entrance of Windsor Castle to St George's Chapel is being lined with personnel from the Royal Navy, Royal Marines, The Highlanders, 4th Battalion Royal Regiment of Scotland and the Royal Air Force.

Guns are to be fired by The King's Troop Royal Horse Artillery from the East Lawn throughout the procession.

The bands of the Grenadier Guards and Rifles Regiment, members of the Household Cavalry and a Royal Navy "piping party" will also be present. Pallbearers from the Royal Marines and other regiments and corps associated with the duke will later carry his coffin.

Image source, PA Media

Image source, PA Media

Image source, Reuters

Buckingham Palace has released the order of service for Prince Philip's funeral so people can follow it at home.

It will pay tribute to his "kindness, humour and humanity" and the "many ways in which his long life has been a blessing to us".

The service at St George's Chapel at Windsor Castle will be conducted by the Dean of Windsor, with the Archbishop of Canterbury pronouncing the blessing.

It will start after a national minute's silence at 15:00 BST and is expected to last about 50 minutes.

The ceremony will be broadcast on BBC One and you can see the order of service here.

Several hundred members of the military are taking part in the proceedings at Windsor Castle ahead of the Duke of Edinburgh's funeral this afternoon.

They have been marching to the castle to get in place ahead of the service.

Image source, PA Media

Image source, Reuters

Former royal protection officer Richard Griffin has many tales of his time with Prince Philip.

When he first began working for the duke, Mr Griffin says: "I must admit, his reputation did terrify me."

"But I quickly realised he was a very kind, considerate man."

"The wonderful story Prince Philip used to dine out on, is he rung up [my house] one day and my five-year-old son answered the phone. He [the duke] said 'Can I speak to Dick please?'

"[My son replied] 'He’s in the garden, I’ll go and get him, who should I say is calling?’ And he said ‘the Duke of Edinburgh.'

"And Prince Philip said all he heard was my little boy yell out 'Dad, can you come to the phone - someone from the pub wants to speak to you'."

Image source, Reuters

The Duke and Duchess of Cambridge have arrived at Windsor Castle, ahead of the funeral in a little over an hour's time.

They will make up two of the 30 mourners who will attend the service.

Image source, Reuters

See the full list of attendees, and how they are related to Prince Philip, here.

The Duke of Edinburgh was a "really, really down to earth" man who had a "very deep faith", says former Archbishop of York Dr John Sentamu.

He did not like pomposity and preferred short services to "long church", said Dr Sentamu. The duke always thought the sermon should be short in a communion service, with the main focus on the act of communion itself, he added.

He also told the BBC the duke knew the Bible well and would tell people if they were quoting the wrong verse or wrong book.

Partly because of his knowledge of scripture, "he was able to have a life that was always stable", Dr Sentamu said, and as a result was "not opposed to change".

He shared an anecdote where the duke told him: "Do you know what is so important about birds? When they take off, they go so high - but all the time, their feet are pointing to the ground and that's why they're able to land very safely."

He pointed out the Queen was about to celebrate her first birthday without her husband by her side for more than seven decades. "Her majesty, like the duke, will simply look to Christ and look to God," he added.

Image source, Rex / Shutterstock

Image source, Getty Images

Image source, PA Media

Image source, Reuters

See more pictures of the day here.