The Prince and Princess of Wales have today greeted crowds in Sandringham and looked at the floral tributes left there
Prince William told well-wishers that walking behind the Queen's coffin brought back memories of his mother's funeral
New details of the Queen's funeral at Westminster Abbey on Monday 19 September have been set out
There will be a national two-minute silence at the end of the service, and a procession through London will follow
Along the Thames, people are waiting to pay their respects to Queen Elizabeth II - the queue is nearly 5 miles (7.9km) long
King Charles III spent the day at his country home, Highgrove
Thanks for tuning in to our live coverage of Thursday's events following the death of Queen Elizabeth II.
It's early Friday morning now in the UK, and we're beginning the day's coverage here. Click to keep up to date with the latest developments.
Image source, PA MediaMore from Westminster Hall now, where the Queen is lying in state. Vanessa Nanthakumaran, the first mourner who got in to see the late monarch's coffin, says the experience helped her to deal with the death of her husband in February.
She told the PA news agency she was "happy" to be the first into the Hall, and to be "involved in a bit of history".
She added: "I'm so privileged that this opportunity was given to the public. I will be remembering this for my life."
Vanessa, from Harrow, north-west London, queued for more than 50 hours on Albert Embankment. Once in, she says she curtsied, said prayers in her head and thanked the Queen for "her great service".
The BBC spoke to Vanessa on Monday, when her queuing journey began. You can watch that here.
Ben Wallace and Alister Jack stand guard over Queen's coffin
This is the moment that Defence Secretary Ben Wallace and Scotland Secretary Alister Jack stood guard over the Queen's coffin in Westminster Hall earlier today.
Both politicians are members of the Royal Company of Archers, which functions as the monarch's bodyguard in Scotland.
The Queen's coffin is being guarded in Westminster Hall by units from the Sovereign's Bodyguard, the Household Division or Yeoman Warders of the Tower of London.
With the new Prince and Princess of Wales in Norfolk, the Princess Royal back in Scotland and the Earl and Countess of Wessex in Manchester, senior royals carried out another day of duties as official mourning for the Queen continued.
During his trip to Sandringham House to read floral tributes left for his grandmother, Prince William told well-wishers that walking behind the Queen's coffin yesterday was "challenging" because it brought back memories of having to do the same at his mother - Princess Diana's - funeral.
Image source, PA MediaPrincess Anne, the Princess Royal, spoke to crowds in Glasgow
Here's what else has happened:
Image source, PA MediaAs day turned to night, those queuing to see the Queen's coffin edge closer to Westminster Hall
The Queen’s funeral will be “the biggest thing that the Diplomatic Service ever sees”, the UK’s former top diplomat has told the BBC.
Speaking to the BBC’s Newscast podcast, Simon McDonald, the ex-civil service head of the Foreign Office, said: “Never have so many heads of state and government come to London for one event, for one day."
Some 500 heads of state and foreign dignitaries, including US President Joe Biden and French President Emmanuel Macron, are expected to attend the service at Westminster Abbey in London on Monday.
However, Russia, Belarus and Myanmar have not been invited.
Hear the full interview with Lord McDonald on Newscast on BBC Sounds.
Leisha Santorelli
Reporting from Southwark Park
Public queues to see Queen Elizabeth II lying in state are now stretching through Southwark Park in south-east London.
As of 20:00 BST the lines were moving quite promptly. Members of the public we spoke to at the very end of the queue are expecting waits of at least eight to nine hours.
They were in relatively high spirits and came prepared with warm clothing and bags of food.
However, some stewards believe if after-work crowds continue to grow tonight it could hit up to 20 hours waiting in line, with that increasing over the weekend.
Image source, EPAThe United Nations General Assembly earlier paid tribute to the late Queen Elizabeth II during a session in New York.
Secretary General Antonio Guterres described the Queen as a "reassuring and inspiring presence" who was "an anchor of stability across decades of often turbulent history.
"She was a consummate diplomat. And she often wielded her diplomatic skills as the only woman in the room."
Guterres added: "For seven decades, Queen Elizabeth II transcended her role to connect at the most human level with everyone she met – world leaders and ordinary people alike.
"And for that, she was among the most respected and loved global leaders of our age.
"Queen Elizabeth’s passing leaves a vacuum that will be impossible to fill."
Sara Monetta
At Westminster Hall
Nicola travelled overnight from Cornwall to pay her respects to the Queen.
Among those who made the trip to Westminster Hall to pay their respects to the Queen today was Nicola, who travelled to London overnight from Cornwall.
As a wheelchair user, she said the most difficult part was to make it from the train station to the Tate Britain art gallery, where the accessible queue began.
“All bus routes were diverted,” she told me.
A group of Scouts directed her to the tent where people could get a wristband with a timed entry and, after snapping a selfie, she was on her way to Westminster Hall.
For people with special accessibility needs, the queue to the lying-in-state is much shorter. People have access to a special lane along the side of the building, where, after the security checks, they are let in to the hall via a ramp.
About an hour and a half later, I met Nicola at the exit of Westminster Hall. Her eyes were a bit teary, but she felt very positive about the whole experience.
“Everybody was wonderful, everybody was very respectful,” she said.
“It’s bringing everyone together. I wouldn’t be surprised if people became friends with people today.”
Katy Austin
BBC News, transport correspondent
Image source, Getty ImagesLondon's railway stations have been less busy than usual today, despite the number of people paying their respects to the Queen during the first full day of lying-in-state at Westminster Hall.
Network Rail data covering up to 11:30 BST suggest London's major stations were 13% less busy today than yesterday, and footfall was 8% down on Thursday last week.
It's reasonable to assume that more "typical" Thursday traffic - for example commuters - has stayed away, more than compensating for the extra visitors, the company says.
On the London Underground it's a slightly different story, with Transport for London saying that by 15:00 today, 3.1 million tube journeys had been made around the capital - up 1% on last Thursday. Buses are also up 3% on last week.
The ticket website Trainline.com has said it's seen a rise in bookings to London for Monday, the day of the Queen's funeral. The rail industry is encouraging people to spread out their journeys home on Monday to avoid too much of a rush after events finish.
Barbara Plett Usher
Reporting from Canada
Image source, ReutersPrime Minister Justin Trudeau spoke personally and emotionally about the late Queen
Canada’s parliament has been holding a special session to pay tribute to Queen Elizabeth that reflects deep respect for the late monarch, but also more complicated feelings about the monarchy.
Prime Minister Justin Trudeau spoke personally and emotionally about the late queen – noting that he first met her as a little boy when his father Pierre Trudeau was Canada’s leader. He described how she “felt at home” in Canada and was loved by Canadians who “feel they’ve lost a family member who grew up alongside them".
Yves-Francois Blanchet, the leader of the nationalist Bloc Quebecois, struck a different tone, saying the history between the Crown and the Quebec nation was "thorny and cruel". “But respect for those who are grieving must come first and we have to distinguish institutions from the people, politics from sincere sadness."
In contrast, the new head of the Conservative Party, Pierre Poilievre, defended Canada’s constitutional monarchy. “The authority of the Crown may in a sense be fictional but it is also functional,” he said.
The leader of the National Democratic Party, Jagmeet Singh, also paid tribute to Queen Elizabeth as a figure of stability amid tremendous change who “used her platform to offer encouragement in difficult times”.
But he also acknowledged the dark legacy of colonialism, urging King Charles III to pursue reconciliation with Canada’s indigenous people and repair relations with other countries that had been damaged by Britain’s colonial past.
The queue to see the Queen lying in state has reached Southwark Park, which has been opened to mourners. This will now become a mass holding area at the back of the queue.
From now on, anyone wanting to join will need to head to Southwark Park.
The estimated queuing time is now at least 8.5 hours, the government's tracker says, and 4.9 miles long.
Image source, ReutersThough Celtic face action, their rivals Rangers will escape punishment despite defying Uefa orders last night
Scottish football club Celtic face disciplinary action after an anti-monarchy banner was displayed by fans ahead of Wednesday night's Champions League match against Shakhtar Donetsk.
Uefa, the governing body of European football, has opened proceedings against the Glasgow club and says it will "decide on the matter in due course".
However, Celtic's city rivals Rangers will escape punishment despite playing the national anthem in their own match against Napoli last night - defying an order from Uefa.
God Save the King was sung, and a minute's silence was held, to commemorate the Queen's death.
Uefa had said it wanted consistency across all UK venues, but has confirmed today that the club will face no disciplinary action.
Image source, ReutersThe Princess of Wales speaks with King's Lynn pupil Elizabeth Sulkovska, eight, who lays down a tribute to Queen Elizabeth II
Headteacher Gregory Hill was with a group of children aged seven to nine in Sandringham earlier when the new Prince and Princess of Wales came out to greet mourners laying tributes at the royal estate.
Catherine invited eight-year-old Elizabeth Sulkovska to walk with her to place a corgi teddy and a bouquet of flowers among the tributes.
"Elizabeth was overwhelmed - she cried with joy at being chosen," Hill added.
"It's just a wonderful, amazing opportunity."
Image source, PA MediaThursday has been a quieter day than others over the last week - with King Charles at Highgrove House before he heads to Wales tomorrow, and the Queen's coffin lying in state for a first full day.
But there's still been a wave of activity across the country, including a walkabout in Norfolk by the new Prince and Princess of Wales.
Let's take a look at some of the key moments of the day.
Image source, PA MediaThursday began with an early-morning rehearsal of the Queen's funeral. This photo was taken at around 03:00 BST
Image source, EPAThe new Prince and Princess of Wales, William and Kate, headed to Sandringham House to see flower tributes to the Queen
Image source, PA MediaLondon school children joined Muslims from across the UK at Regent's Park Mosque to honour the life of Queen Elizabeth II and to mark the accession of King Charles III
Image source, ReutersScottish Secretary Alister Jack (centre left) and Defence Secretary Ben Wallace (centre right) stood guard by the Queen's coffin at Westminster Hall. They're both members of the Royal Company of Archers
Image source, ReutersThousands are still queuing to see the Queen's coffin lying in state; the estimated wait time is at least eight hours
Image source, ReutersThis aerial shot shows dozens of people leaving Westminster Hall after paying their respects to the Queen
Image source, EPAOver in New York, the UN General Assembly held a special session as a tribute to Queen Elizabeth II
Prince William has told mourners outside Sandringham House that walking behind the Queen's coffin in a procession yesterday "brought back a few memories" of his mother's funeral.
Speaking to well-wishers outside the royal residence earlier, he said yesterday's event was "challenging".
In September 1997, he and his brother Price Harry walked behind the coffin of their mother Princess Diana - an image that sticks in the mind for many.
Prince Harry addressed the topic in 2017, telling Newsweek: "I don't think any child should be asked to do that, under any circumstances. I don't think it would happen today."
Image source, DCMSSome good news for those waiting to see the Queen lying in state: the government's estimated queue time to get into Westminster Hall has gone down by an hour - though there's still a long wait.
Anyone joining the 4.4-mile (7km) line will now have to wait for around eight hours. Earlier, it was nine.
The UK government's queue tracker is here, external.
Laura Gozzi
BBC Live reporter
Image source, .We've taken you on a journey along the length of the queue today. Those who finally saw the Queen lying in state after hours of waiting and then a stringent security check have described the emotions they felt.
Mother and daughter Charlotte Baker and Amy Stitt, from Leicester and Leeds, were in tears afterwards.
“It’s the most beautiful hall," they said. "When you go in you’re filled with awe. The ceilings are beautiful, the soldiers’ uniforms… I don’t think there’s a more British sight."
They came to London last night and queued for five hours to pay their respects.
Another couple, Wendy and Bill Crook, travelled from Christchurch in Dorset.
Asked if the hours-long wait to see the Queen's coffin was worth it, they say: "Absolutely.
"If we'd listened to the news we wouldn't have come. We were put off a bit. We heard things about 20-hour queues, 10 miles long. I'm so glad we didn't listen!"
"Tell people to come," they say. "There'll never be another moment like this."
Image source, PA MediaAmy Stitt and her mother Charlotte Baker found their visit to Westminster Hall emotional
Laura Gozzi
BBC Live reporter
Image source, .Met Police boats whizz by under Lambeth Bridge, where the queue moves at pace as it approaches its final section - the riverside gardens at Millbank.
From here, you can see the queue lining the embankment right opposite, snaking around the bend towards St Thomas’ Hospital, past several buildings flying flags at half mast.
The queue moves relatively quickly, although security personnel say that even at this pace it will take another couple of hours for people to get to the end. Many say it’s taken them just over three hours to get here from London Bridge.
On the embankment leading to Westminster Square, a jogger ducks to avoid the TV cameras. Westminster workers in suits eat their sandwiches sat on bollards under the trees. Tourists take selfies with Big Ben.
Image source, PA Media
Image source, ReutersCanadian PM Justin Trudeau said the Queen had a "profound appreciation for our culture"
Canadian Prime Minister Justin Trudeau has told MPs in Ottawa that the Queen "embraced her role" as Canada's monarch, adding that she felt at home in the country.
Canadians "feel like they have lost a family member who grew up alongside us," he said.
"The Queen had a profound appreciation for our culture.
"In 1964, she said that she was happy to know that there existed in our Commonwealth a place where it was expected of her that she would speak officially in French. It's a language that she loved a lot and that she spoke impeccably well."
Trudeau also spoke highly of King Charles III as he begins his reign as monarch.
He saluted the new King's "commitment to the larger sweep of history", saying his most recent tour focused on "the generational work necessary to achieve reconciliation and fight climate change."
Thomas Mackintosh
BBC Live reporter
Image source, .Passing St Paul’s Cathedral and Blackfriars Bridge, there are more and more checks for wristbands.
Underneath Waterloo Bridge, more obvious gaps appear in this huge line.
Poignantly, the BFI Southbank is displaying archive footage of Queen Elizabeth II as people filter towards Westminster Hall.
I’ve seen plenty of litter pickers helping keep the Thames path clean - and officers from Wiltshire, Lancashire and Cheshire police forces are here to help London's own Metropolitan Police.
Dotted along the queue and standing wearing high-vis jackets are some chaplains, here to provide some reassurance as they feel the Queen’s death really resonates with people who have lost someone or who struggled during the pandemic.
Many people here are expressing their gratitude, sharing so many positive stories and connecting with one another as they wait patiently.
One woman, who didn’t want to give her name, said she was not a huge fan of the royals until she watched The Crown series on Netflix. Now she feels compelled to pay her respects.
Image source, PA Media