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
The Queen's coffin is now at Edinburgh Aiport, and is about to be placed on the RAF aircraft, in the presence of the Princess Royal.
The coffin is being carried on to the plane by a Royal Air Force bearer party
It's being accompanied by a guard of honour from the Royal Regiment of Scotland.
Image source, Getty ImagesThe Queen's coffin is soon to leave Scotland for the last time.
Her friend of 50 years, motor racing legend Sir Jackie Stewart, has said that dying in Scotland was "a kindness to her" because Balmoral was her favourite place in the world.
The three-time Formula 1 world champion had been due to visit Her Majesty at the Aberdeenshire estate today.
He told BBC Scotland: "I was with her very recently and she was in great form - sharp as a needle."
Image source, PA MediaEarlier the Scottish government said more than 26,000 people queued to pay their respects
Image source, ReutersQueen Elizabeth II's coffin is carried out of the cathedral
Image source, ReutersThe casket is draped with the Royal Standard
Image source, ReutersThe coffin is being transported to Edinburgh Airport where it will be flown to London
Image source, ReutersThousands lined the streets of Edinburgh as the Queen's coffin made its final journey away from Scotland
Allan Little
Special correspondent
Image source, PA MediaKing Charles has spoken about his mother's love of Scotland "in whose hills, and in the hearts of whose people, she found a refuge".
The late Queen's coffin has been lying at rest in Edinburgh's St Giles' Cathedral since Monday afternoon - a gesture toward the distinctive character of Scotland's historic nationhood.
She's now leaving Scotland for the last time.
What will remain of her legacy in Scotland, when this period of mourning is over and she recedes into the middle distance of our collective memory?
That question will be at the heart of the new reign that began when she died.
Read more here.
Image source, PA MediaQueen Elizabeth II's coffin is carried out of St Giles' Cathedral
It's been another busy day for the Royal Family - with more to come this evening.
King Charles and Camilla, the Queen Consort, are now on their way back to London, from Belfast, while Queen Elizabeth II's coffin has begun its journey to Edinburgh Airport - also to be flown back to the English capital.
Here's what's happening and coming up:
16:30 The Queen's coffin has been moved from St Giles' Cathedral in Edinburgh, where it's been resting for 24 hours. The hearse is driving to Edinburgh Airport with members of the public lining some of the route.
Around 18:00: The coffin will be flown to RAF Northolt in west London, accompanied by the Princess Royal, Princess Anne. The plane is expected to arrive in London before 19:00.
Later: The coffin will then be taken to Buckingham Palace, where it will be met by the new King and Queen Consort, as well as other members of the Royal Family.
A guard of honour will receive the coffin before it is taken to the Bow Room, inside the palace, in preparation for it being taken to Westminster Hall tomorrow to begin four days of the late Queen lying in state.
You can read more about the day's proceedings - and those planned for the next six days - here.
As the Queen's coffin was being moved out of St Giles' Cathedral in Edinburgh, the King and the Queen Consort left Belfast.
The pair are flying from Belfast City Airport to London to receive the Queen's coffin at Buckingham Palace later this evening.
Lucy Manning
BBC News Special Correspondent at Buckingham Palace
The queue will cross Lambeth Bridge before heading back towards Westminster Hall
The Queen's coffin is now on its way to London, where it will travel first to Buckingham Palace and then will lie in state at Westminster Hall from Wednesday afternoon.
Officials in London expect at least 400,000 people to be able to file past it there.
However, there is the possibility more will be able to pass through, depending on how quickly the queues flow.
Information on where the queue has reached and rough estimates of how long it will take will be provided to the public.
Mourners will be given different coloured wrist bands when they reach different zones of the queue. This will allow people in those areas to temporarily leave the queue to go to the loo, sit down or get a cup of tea.
Cultural centres like the Southbank Centre and BFI along the route are expected to stay open to facilitate this.
The queue will be paused if people have completely filled up the route. Officials don’t want anyone to join the queue who is unable to reach the hall before the 06:30 Monday cut-off time, so it's possible the queue will be halted some hours before then.
The worst-case scenario is that people will have to queue for more than 30 hours, but the hope is it will move more quickly than that.
The Queen's coffin is now being escorted out of St Giles' Cathedral.
It's on its way to Edinburgh Airport, where it will depart on a RAF flight at 18:00.
Mourners can pay their respects along the route.
Image source, ReutersBack in Edinburgh, the Princess Royal has returned to St Giles' Cathedral to accompany the Queen's coffin on the next leg of its journey back to London.
It emerged earlier that it was the Queen's wish that Princess Anne, her only daughter, should be the family member to escort her coffin in the days between her death and the state funeral.
As part of this, Anne will be the only member of the Royal Family on the plane that carries the coffin from Edinburgh back to London, to be met by her older brother, King Charles III, and Camilla, the Queen Consort.
King Charles and Camilla have greeted those waiting outside the cathedral, and are now in their car and on their way.
The prayer and reflection service at St Anne's Cathedral was a multi-denominational service, led by the Church of Ireland bishop and archbishop, with prayers delivered by Archbishop of Armagh Eamon Martin.
Methodist and Presbyterian leaders also took part.
The service at St Anne's Cathedral in Belfast has come to an end. The organ plays and the choir processes out.
God Save the King was sung in the cathedral for the first time in 70 years.
King Charles III and the Queen Consort will soon make their way to Belfast City Airport, from where they will fly to London, ready to receive the Queen's coffin when it travels to Buckingham Palace from Edinburgh.
As well as pieces by composers such as J S Bach, music by Sir Charles Villiers Stanford - born in Dublin - and a hymn set to the traditional Irish melody Londonderry Air are included in the service in St Anne's Cathedral.
A piece by Sir John Tavener, who was a friend of King Charles III, also features.
Queen 'made huge difference in changing attitudes', says Alex Maskey
Queen Elizabeth II made a "huge difference in changing attitudes and building relationships" in Northern Ireland, Stormont Speaker Alex Maskey has said.
Speaking at Hillsborough Castle a little earlier, the Sinn Féin politician paid tribute to her as he offered a message of condolence to Charles III on the new monarch's first visit to Northern Ireland as King.
Image source, PA MediaKing Charles III greets crowds as he arrives at St Anne's Cathedral in Belfast
Image source, ReutersPrime Minister Liz Truss and Taoiseach Micheal Martin take their seats at St Anne's Cathedral
Image source, ReutersIan Paisley shakes hands with Irish foreign affairs minister Simon Coveney
Image source, PA MediaKing Charles III and his Queen Consort at the service to remember the Queen
Back to Belfast now, where the thanksgiving service for the life of the Queen continues.
As well as leaders from Northern Ireland's faith communities, representatives of other organisations are also taking part in the service.
The first reading, from Joshua, is read by Eoin Millar, the Northern Ireland Duke of Edinburgh Youth Ambassador.
Later the Speaker of the Northern Ireland Assembly, Alex Maskey, reads from the New Testament.
Image source, ReutersSinn Féin vice-president Michelle O'Neill - who is also attending the service of thanksgiving in Belfast - told King Charles III she was sorry for his deep loss when she met him at Hillsborough Castle a little earlier.
O'Neill said the Queen's life and legacy would be "fondly remembered by those of a British identity who held her very dear".
"She led by example in advancing peace and reconciliation and the building of relationships with those of us who are Irish, and who share a different political allegiance and aspirations to herself and her government.
"I hope this continues now that you are King and the British-Irish relationship strengthens and evolves as one era ends, and a new one begins in these changing times."
Image source, ReutersBack to Edinburgh for a moment now, where the doors to St Giles' Cathedral have closed.
Tens of thousands of people have queued during the night and throughout this morning to pay their final respects to the Queen, who has been lying at rest in the cathedral since yesterday.
The last of Edinburgh's mourners are filtering through the cathedral.
Queen Elizabeth II's coffin will be flown to London later this afternoon.
Leaders from other churches including the Catholic Archbishop and representatives of the Methodist and Presbyterian churches were also introduced to the King and the Queen Consort
Trumpeters from the band of the Royal Irish Regiment are now playing a trumpet fanfare and the service gets under way.
King Charles III and Camilla, the Queen Consort, have now arrived at St Anne's Cathedral in Belfast.
The Bishop of Connor, the Rt Rev George Davison, greets the royal couple and leads them in through the west doors of the cathedral.
The King is now meeting leaders of other faith communities.
The community service for the people of Northern Ireland will begin shortly.
Image source, PA MediaIrish President Michael D Higgins and his wife, Sabina, have arrived at St Anne's Cathedral.
They're sitting in the front row alongside Liz Truss and the Irish prime minister and foreign affairs minister.