The Queen's coffin has arrived at Buckingham Palace and was greeted by members of the Royal Family
It will move on Wednesday to Westminster Hall, where the Queen will lie in state for four days
The Queen's daughter, the Princess Royal has issued a statement saying she was "fortunate to share the last 24 hours of my dearest mother’s life"
Hundreds of thousands of people are expected to file past the coffin to pay their respects, with a huge policing operation expected
King Charles III and Camilla, the Queen Consort, who are now in London, earlier visited Northern Ireland as part of a tour of the UK
They greeted crowds at Hillsborough Castle, met political leaders and attended a service at St Anne's Cathedral
Scotland's First Minister Nicola Sturgeon says this is "a sad and poignant moment" as the Queen leaves "her beloved Balmoral" for the last time.
"Today, as she makes her journey to Edinburgh, Scotland will pay tribute to an extraordinary woman," Sturgeon writes on Twitter.
This was the moment the Queen's funeral cortege left Balmoral Castle - the beloved estate where she spent so much time with her family.
In the second car behind the hearse is the Queen's daughter, Princess Anne, who will stay with the coffin as it is moved first to Edinburgh and then to London.
The royal procession leaves Ballater. It will pass through the villages of Dinnet, Aboyne, Kincardine O'Neil, Banchory, Drumoak, Peterculter and Cults.
The community of Ballater, less than eight miles from Balmoral, considered the Queen to be more of a friendly neighbour than a monarch. Residents were well used to seeing the Queen in the area, and many had frequent interactions with her.
"You can feel the emotion from everybody around here," said local resident Cheryl Barr. "She was a very powerful lady, but very gentle at the same time."
Read more about Ballater's relationship with the Queen here.
Image source, Reuters
Image source, Reuters
Image source, ReutersHundreds of people are lining the streets of Ballater, watching in silence as the cortege moves through.
Aberdeenshire representatives are waiting in the village's square to pay their last official respects to The Queen alongside the people of Upper Deeside and Ballater.
Watch as the Queen's coffin passes through town of Ballater
The Queen's coffin is now making its six-hour journey from Balmoral Castle to Edinburgh.
You can see footage taken from the BBC's helicopter by viewing the video at the top of this page.
You can also watch live on BBC iPlayer.
Aerials show Queen's last journey from Scotland
Sarah Campbell
Royal Correspondent, reporting from Balmoral
That was quite a moment as the Queen left a place she had cherished throughout her life and her coffin started the journey towards its final resting place. We are witnessing history.
Twenty further vehicles have just passed the gates - police motorbikes, police vans, extra security and an ambulance.
I am told there are a total of 45 vehicles in the funeral cortege.
Let's look in greater detail at the route the royal cortege will take across the eastern coast of Scotland today.
The procession starts making its way towards Aberdeen, passing through villages the Queen got to know well during her stays in Scotland. Among them are Ballater, Banchory, Peterculter and Cults.
The procession will then arrive in Dundee and be saluted by dignitaries as it passes through the outskirts of the city.
It is envisaged that people will line the route through Dundee from City limit to City limit, along the A90.
The procession will then continue southwards, past the city of Perth.
The procession will head across the bridge that the Queen herself opened only five years ago. The cortege will approach Edinburgh, ending at the Palace of Holyroodhouse.
Image source, bbcIn the village of Ballater near Balmoral, people have been lining the streets ready for the procession.
The royal cortege is travelling from Balmoral Castle to the Palace of Holyroodhouse in Edinburgh.
Thousands of people are lining the route to witness the Queen's final journey.
Image source, Reuters
Image source, Reuters
Image source, Reuters
Image source, Reuters
Image source, Reuters
James Cook
Scotland Editor in Ballater
We are expecting the cortege in Ballater, just down the River Dee from Balmoral, in the next few minutes.
A helicopter is now overhead.
Dignitaries are lined up, in a mixture of black suits, dresses, and military uniforms, swords gleaming.
The crowd is expectant and slightly nervous. Some people are already emotional.
The Queen's funeral cortege will take a six-hour journey from Balmoral to Edinburgh, passing through Aberdeen and Dundee, for a total of 175 miles.
We will be following the cortege on its journey.
Sarah Campbell
Royal Correspondent, reporting from Balmoral
The hearse carrying the Queen’s coffin has passed through the gates of Balmoral Castle.
Through the hearse windows, you can see a wreath made from some of the Queen’s favourite flowers.
White heather, dahlias and sweet peas - all cut from the Estate gardens.
It is overwhelmingly still and quiet.
In the background, we can hear the sound of the River Dee rushing through the Estate.
In the second car of the cortege is the Queen’s daughter, Princess Anne and her husband Vice-Admiral Sir Tim Laurence.
The Princess Royal will stay with the coffin as it is moved first to Edinburgh and then to London.
Image source, Reuters
The funeral cortege leaves Balmoral, towards the village of Ballater.
It's the start of the Queen's final journey, which will culminate with the state funeral on 19 September.
We're getting more details about what has been happening at the castle in the past few moments.
The Queen’s coffin will be played out of Balmoral by her piper.
The wreath on her coffin contains dahlias, phlox, sweetpea, white heather, limonium, pine and fur, all cut from the gardens of the estate.
Sarah Campbell
Royal Correspondent, reporting from Balmoral
The gates of Balmoral Castle have been opened in readiness for the Queen’s funeral cortege.
She passed away peacefully here on Thursday afternoon. In the next few minutes, the 175-mile journey to the Scottish capital begins.
The Queen lies in an oak coffin in Balmoral Castle's ballroom, according to a palace official. It has been covered with the Royal Standard for Scotland and a wreath of flowers has been placed on top.
Members of staff at Balmoral have been able to pay their last respects before the Queen's coffin is moved at 10:00 BST today. Many of the staff at the castle have spent a good deal of their lives working for the Queen.
"It is a scene of quiet dignity," the palace official said.
The Queen's love of her home in Balmoral was well known. She spent most summers at the 50,000-acre country estate in Aberdeenshire, usually with her beloved husband Philip and family by her side.
The coffin will soon be carried by six of Balmoral estate's gamekeepers to a hearse at the entrance, before departing on its six-hour journey to the Palace of Holyroodhouse in Edinburgh.
Image source, PA MediaPeople have already started lining the streets in Balmoral ahead of the procession
Many thousands of well-wishers are expected to line the route as the Queen's coffin is driven from Balmoral to the Scottish capital Edinburgh. The journey is expected to begin at about 10:00 and take about six hours.
The cortege will make its way through Aberdeenshire, Aberdeen, Angus and Tayside before reaching Edinburgh.
The Queen will then lie at rest in The Palace of Holyroodhouse overnight.
Image source, ReutersOn Sunday with Laura Kuenssberg, Labour peer Baroness Amos says that because his passions on issues like the environment, education and inequality were well known while he was Prince of Wales, she expects the King will bring empathy to the role of sovereign.
The King is in an "extraordinary position", say Sir Nicholas Soames - Winston Churchill's grandson - because he is a link to the past and the future. Sir Nicholas, who knows the King well, says his understanding of what goes on the ground in this country is "a great deal more thorough than people would understand".
Mirror editor Alison Phillips is asked how people have reacted to Camilla stepping into the role of Queen Consort. She says that Camilla has been a great support to the King during their two decade-marriage and that people have accepted that "times change and people change" and are happy he has her support in the role of King.
Jessica Parker
Reporting from Gibraltar
UK and Gibraltarian flags are frequently seen side by side
Later today, the formal Proclamation of King Charles III, as the King of Gibraltar, will take place. But the thoughts of many here are still with the Queen.
"Honestly to God, we loved her," sisters Rosemarie and Lydia tell me.
They, like many Gibraltarians, hold a deep affection for the late Queen. Her Majesty's visit to the British overseas territory, in 1954, is etched into the collective memory as well the landscape.
One of its main roads was renamed to Queensway while Queen Elizabeth II's royal cypher can be seen on the gates of the Alameda Gardens.
In an address on Friday the Chief Minister of Gibraltar, Fabian Picardo, said: "Gibraltar was her Rock, and she was ours."
The Rock, as it's sometimes known, lies at the southern tip of the Iberian Peninsula and has a population of over 33,000 people. Spain has a long-standing claim on the densely populated rocky outcrop but local voters have twice, in 1967 and 2002, overwhelmingly voted to remain British.
"We've always been considering ourselves British citizens," says Rosemarie.
"We are Gibraltarian but we are proud to be under the Queen, now under the King."
Sisters Rosemarie (left) and Lydia hold a deep affection for the late Queen