Image source, Reu

The Queen was known to have enjoyed a warm relationship with the former South African president, Nelson Mandela, welcoming him to London in 1996 for a state visit, following her own visit to the newly democratic nation the previous year.

The two spoke on the phone regularly and called each other by their first names as a sign of affection and mutual respect, his foundation says.

It adds, Mandela, who died in 2013, used to ask anyone from the UK or who had visited, "And did you get to meet the Queen?", and would then take great delight in sharing anecdotes of his encounters with her.

People from across the globe have been sharing their memories of and tributes to the Queen with us. Here are a few that caught our eye:

Image source, Gavin Frost

Gavin Frost and Nicola Pritchard will always remember the Queen for being willing to bend the rules at the right moment.

The monarch let them receive their mum's posthumous MBE together at Buckingham Palace, instead of just allowing one person to pick up the award as protocol dictates.

"That moment and her kindness will stay with us forever," says Gavin.

For Georgi N Kotov, from Sofia, Bulgaria, the Queen was "like a good fairy in a bedtime story of our childhood".

Image source, Alan Townley

While Susan Smith's lasting memory of meeting the monarch in Christchurch, New Zealand, in 1986, was of droopy carnations on a warm day.

You can read more on our dedicated live page here.

Image source, Reuters

Scotland's First Minister Nicola Sturgeon has described the Queen as an inspiration in an entry in a book of condolence at her official residence in Edinburgh:

"On behalf of Scotland, I express deep sorrow on the passing of Her Majesty, Queen Elizabeth, and also the gratitude of our nation for her steadfast service, dedication and abiding love of Scotland.

"In so many ways, and for so many of us, she was Elizabeth, Queen of Scots.

"Personally, I will cherish and value for the rest of my life the words of wisdom and counsel I was so privileged to receive during the audiences she graciously afforded.

"In our sadness, we will continue to be guided by her example and inspiration. Thank you, Ma'am, may you rest in peace."

As we've been reporting, members of the Royal Family have shared their memories of the Queen with the BBC for a special programme.

The Earl of Wessex, Prince Edward, remembered the moment the Queen made a surprise appearance at the London 2012 Olympic Games opening ceremony as Daniel Craig, as James Bond, arrived at Buckingham Palace.

"Who will be playing the Queen?", the prince said he - and everyone else - was thinking.

"And it was the Queen. And it had the same affect on everybody who was watching it.

"I thought it was an extraordinary moment because it just showed that fantastic twinkle and sense of humour. The fact that my mother kept it to herself and the team that were there and didn't tell anybody was just brilliant."

A Tribute to Her Majesty The Queen is being broadcast this evening on BBC One.

It's been an emotional day for many. The streets and the parks around Buckingham Palace, at Windsor Castle and Balmoral, have been thronged with members of the public, many bearing flowers and letters of condolence.

So what happens on Saturday?

• At 10:00 BST, Charles will be officially proclaimed as King at a meeting of the Accession Council in St James's Palace in London, attended by his son, Prince William
• At 11:00 BST, following the Accession Council meeting, the Principal Proclamation announcing Charles as sovereign will be read from the balcony
• At 12:00 BST, the same proclamation will be read at the Royal Exchange in the City of London, and then at midday on Sunday in Scotland, Northern Ireland and Wales

• Flags will return to full mast for 26 hours to mark the occasion of the new monarch following the proclamation in London, until one hour after the proclamations in Scotland, Northern Ireland and Wales. They will return to half mast during the period of national mourning
• Between 14:00-22:00 BST on Saturday Parliament will gather for MPs to pay their respects to the late Queen

If you're just joining us, welcome.

A lot has happened on the day after the death of Queen Elizabeth II:

• Bells rang out at churches and gun salutes sounded across the country to mark the death of the sovereign
• King Charles III returned to London from Balmoral, greeting well-wishers outside Buckingham Palace
• The new monarch had his first in-person audience with Prime Minister Liz Truss at the palace
• His first address to the nation was broadcast, in which the King thanked his "darling mama" and dedicated himself to his new role
• He also announced that his son William and daughter-in-law Catherine would become the Prince and Princess of Wales
• Meanwhile politicians and members of the public gathered at a service of prayer and reflection at London's St Paul's Cathedral to remember the Queen

In a clip King Charles III reflects on his memories of his mother with an image of young Queen Elizabeth behind his left shoulder.

"I'll shall never forget her," he says.

"We were small and having a bath and she came in practicing wearing a crown before the coronation - all those sorts of marvellous moments I shall never forget.

"But also, she was always there. I could talk to her about this, that or the other and that has always been something I think that will be very difficult not to have."

A Tribute to Her Majesty The Queen will be broadcast this evening on BBC One at 20:00.

Members of the Royal Family have shared their memories of the Queen with the BBC for a special programme which will be broadcast shortly.

Princess Anne recalls fond memories of sharing holidays with her mother, father and siblings.

"The holiday times were pretty well kept from our perspective," she recalls.

The Queen probably enjoyed the holiday times most, she says, because they included the countryside, dogs, the horses, being able to get out and about - and away from the public gaze.

A Tribute to Her Majesty The Queen will broadcast this evening on BBC One at 20:00.

Image source, Getty Images

In his address, King Charles III announced that his first-born son Prince William will become the Prince of Wales. His wife Catherine meanwhile will become the first woman to be known as Princess of Wales since the death of William's mother Diana in 1997.

Originally native, independent Welsh princes used the title. But after English King Edward I conquered Wales in the 13th Century, he made his own son the first English "Prince of Wales" at a ceremony in Caernarfon Castle.

Since then, many English and British monarchs have given the heir to the throne the same title. Queen Elizabeth II made her son Charles the Prince of Wales, with his investiture at Caernarfon in 1969 being broadcast to millions (but also drawing protests from Welsh nationalists).

Jessica Sherwood
BBC News

With the death of the Queen and the new reign of King Charles III, the words of the national anthem immediately changed from God Save the Queen to God Save the King.

Those words were last sung in 1952, changing to “Queen” at the death of King George VI and the ascension of Queen Elizabeth.

With the new King and a male heir to the throne, it’s likely to stay as “God Save the King” for many years ahead.

There is no official author of God Save The King, but the song as it appears now dates back to the 18th Century.

One of the earliest recorded performances was arranged by Thomas Arne at the Theatre Royal, in 1745, at a time when the Jacobite "Young Pretender", Prince Charles Edward Stuart, who styled himself as Charles III, was making a play for the British throne.

The song proved popular and spread to other playhouses, where the custom of greeting monarchs with the song as he or she entered a place of public entertainment was established.

The Archbishop of Canterbury concludes the service at St Paul's, reading a blessing which is followed by a rousing rendition of God Save the King from the choir and congregation.

It is the first official public rendition of those words, after the 70-year reign of Queen Elizabeth II.

Earlier in the service a piper played a lament - reminding all of the late Queen's love of Scotland.

The congregation stand as the clergy and choir file out of St Paul's Cathedral.

Sean Coughlan
BBC News, royal correspondent

This was an intensely personal speech from King Charles, full of undisguised emotion about his family at a time of mourning.

It included a headline announcement that Prince William and Kate would become Prince and Princess of Wales, handing on to the next generation.

But perhaps more movingly he paid tribute to two women at the centre of his life - his mother the Queen and his “darling wife" Camilla.

He spoke of his “profound sorrow” at the loss his mother, her “life well-lived” and her “sacrifices for duty”, sticking tenaciously to her sense of service through decades of huge social change.

The new King also praised the “steadfast devotion” of the new Queen, his wife Camilla, making clear the important and non-negotiable role she would play in his life.

There was also an expression of love for “Harry and Meghan as they continue to build their lives overseas”.

Another clear message being sent was that Charles was here for the long haul, the throne would be a lifelong commitment for him, for all “the remaining time God grants me”.

But it was an important, tone-setting speech that was absent of any pomposity, promising to serve rather than to rule. It also touched on two of his passions, Shakespeare and religion.

Although nothing is accidental in the royal world and the speech from Buckingham Palace had its own deliberate symbolism.

He spoke in a room used by his mother for Christmas messages and in front of a posy of sweet peas and rosemary meant to represent remembrance.

And at the base of the vase there were three corgis.

You can read the King's address in full here.

The moment the King and the prime minister's new relationship officially got started has been caught on camera, in intimate scenes from inside Buckingham Palace.

Liz Truss visited the palace earlier for her first in-person audience with the new King. After she curtsied and the pair shook hands, the King promised not to "take up too much of your time".

Before they sat down together there was a moment of informality.

The King told her it had been "so touching" to see the crowds of well-wishers and mourners when he arrived at the palace earlier. Truss offered her "very sincere condolences" - which the monarch said was "very kind".

"It's a moment I've been dreading, as I know a lot of people have," he added.

He braced his arms before saying he would "try and keep everything going" - before showing the PM to her seat to get their meeting started.

The Queen held a weekly audience with her prime ministers throughout her reign.

Members of the congregation were tearful as they listened to the choir and heard the words spoken in praise of the late Queen.

One woman was seen using a handkerchief to wipe her eyes as she sat in the pews at St Paul's. Others silently wiped tears from their faces.

People of all ages sat quietly, some in suits and dark, formal wear, others more casually dressed.

Prime Minister Liz Truss now delivers a reading at the service at St Paul's.

Wearing the black dress she was pictured in earlier when she attended the audience with King Charles III at Buckingham Palace, she stands in front of the congregation to read from the Book of Romans.

"We do not live to ourselves and we do not die to ourselves; if we live, we live to the Lord, and if we die, we die to the Lord."

"So then, whether we live or whether we die, we are the Lord's," she reads.

Image source, PA Media

The congregation who have gathered in St Paul's Cathedral, including the Prime Minister Liz Truss, listened to audio of King Charles III's address at the start of the service of prayer and reflection.

The service is now under way.

Dean Designate Andrew Tremlett, who is leading the service, gives thanks for the Queen's "devotion to all her people".

He says: "We remember her long life spent in the service of this country and of her Commonwealth realms around the world.

He reminds the congregation of the promise the Queen made at her coronation that all her judgements should be guided by law, justice and mercy.

"We pray for the Royal Family, as they mourn their loss," he says.

King Charles pays tribute to his late mother the Queen, in an address to the nation, and speaks of his feelings of "profound sorrow".

He says she was "an inspiration" and an example to him and to his family.

He says hers was "a life well lived", adding she is "mourned most deeply in her passing".

The King ends his address with the following words:

"And to my darling Mama, as you begin your last great journey to join my dear late Papa, I want simply to say this: thank you.

"Thank you for your love and devotion to our family and to the family of nations you have served so diligently all these years.

"May 'flights of Angels sing thee to thy rest'."