As we've mentioned, the first mourners are now able to pay their respects to Queen Elizabeth.

By 17:20, the queue tracker confirmed that the line was already some 2.9 miles (4.6km), stretching as far as London Bridge.

It now says the queue length has reduced a little, to 2.6 miles.

There are currently more than 1,000 volunteers, stewards, marshals and police officers on hand, as well as a number of British Sign Language interpreters available to help.

More than 500 temporary toilets are installed along the route, with many nearby businesses open for extended hours so visitors can buy food and drink.

Transport for London has warned of intense pressure on the transport system as people come to the capital to pay tribute to the Queen.

Sophie Williams
Reporting from Westminster

Tens of thousands of people took to the streets of central London earlier - there to watch the Queen's coffin pass, or to queue to see the lying in state.

Among them was Jack, a military veteran who waited two-and-a half hours to watch the procession and say goodbye to his "commander-in-chief".

He's one of the Chelsea pensioners - former non-commissioned officers or Army soldiers who live at the Royal Hospital in London.

"I'm saying farewell to my boss but also farewell to my colonel. That’s why I've come up. I could have watched it on TV of course but I wanted to be here," he said.

'I've met lots of lovely people who were very accommodating and I’ve enjoyed it. It was emotional when I saw her going past because up until then I was just getting my head around it. And now I've seen her go past.

"I was four-and-a-half when she came onto the throne. It’s history. It's an era gone."

The procession this afternoon carrying the Queen's coffin from Buckingham Palace to Westminster Hall was a sombre occasion, but there were moments of celebration and appreciation for the late monarch, too.

Here's the moment when applause broke out in the crowd - almost drowning out the sound of the band who played throughout.

James Landale
Diplomatic correspondent

We know who is not coming to the funeral on Monday.

The governments of Syria, Venezuela, Afghanistan, Russia, Belarus and Myanmar have not been invited, either for their behaviour or because the UK does not have diplomatic relations with them.

Iran, North Korea and Nicaragua have been invited but they can send only their ambassadors.

But there is still no complete list of those who are attending - the deadline for RSVPs is Thursday.

Some heads of government are struggling to rearrange their schedules at short notice - many were expecting to be in New York for a big United Nations summit.

Most countries are only allowed to send their head of state and a plus one, but the 14 Commonwealth countries for whom King Charles is still head of state have been given a little extra leeway.

They can send a head of government and a plus one, a governor general and plus one, a high commissioner and 10 guests representing their societies.

Read the latest on who is going and who is not, here.

Matthew Sydney
Reporting from Highgrove

We saw the King follow his mother's coffin in procession from Buckingham Palace to Westminster Hall earlier.

Now, he's home at Highgrove House in Gloucestershire where he arrived shortly after 5pm.

It was low key - no sirens or ceremony, just a couple of cars, with the monarch driving himself.

The royal residence in Tetbury has been the family home to Charles since the 1980s.

Around a dozen people, who’d arrived to lay flowers over the previous fifteen minutes realised the King may be about to arrive, and stayed to greet him.

The King slowed his car briefly as he turned into the drive, and wound his window down to acknowledge the well-wishers. And then he drove out of sight, into the sanctuary of his country home, for some private time away from cameras and crowds.

This is the moment when members of the Household Cavalry and the Gentlemen at Arms took their positions by the catafalque, where Queen Elizabeth II lies in state.

The first vigil began with a ceremonial move called a "double tap" from the officer of the watch.

The Queen's coffin is lying in state inside Westminster Hall but what do we know about the place?

• Built from 1097 by William II, the hall is the oldest building in Parliament and the only part of the ancient Palace of Westminster which survives in almost its original form
• It was the largest hall in England, and probably Europe, when it was built and has served many different civic purposes
• The floor area covers 1,547 square metres (17,200 square feet), the size of around four cricket pitches
• The trial of Guy Fawkes for plotting to blow up Parliament in 1606 took place there, and he was executed just outside
• It was also the location of the trial of Charles I in 1649 - the first time a monarch had been tried in public and condemned to death while still reigning
• Speeches from figures including South African leader Nelson Mandela, US President Barack Obama and Pope Benedict XVI have taken place there
• The Queen Mother lay in state there in 2002, as did the Queen's first Prime Minister, Sir Winston Churchill in 1965.

Zoe Conway
Reporting from Lambeth Bridge

Enver Eng, from the Hampshire Scouts, led the queue to see the Queen lying in state across Lambeth Bridge from the South Bank towards Westminster Hall, within the Palace of Westminster.

Earlier, the 24-year-old told me he’d taken on this role because it would be a "huge honour" to carry out his duty to the Queen.

He says the late Queen was amazing and that she improved many young lives.

Now that the queue of people waiting to view the Queen's coffin has begun to move over the Thames and on into Westminster Hall, the government is giving regular updates on the length of the line.

The Department for Digital, Culture, Media and Sport (DCMS) has a live feed on YouTube showing the end point of the line.

It currently says the queue is 2.8 miles (4.5km) long and that the nearest landmark is the Tower Bridge.

Those wishing to join the line are advised to check the latest travel information on the Transport for London (TfL) website.

• You can find everything you need to know about the lying-in-state queue here.

Image source, PA Media

The first members of the public are beginning to file into Parliament's Westminster Hall to see the Queen's coffin, after waiting for hours in line to pay their respects.

The Queen will lie in state until 06:30 BST on Monday morning, the day of her funeral.

If you're thinking of joining the queue, find out everything you need to know here.

Image source, PA Media

People who have waited to view the Queen lying in state are due to be let in to Westminster Hall in a few moments time.

The queue along the the Thames is already nearly three miles long, stretching the entire way to London Bridge.

Westminster Hall will soon be open for the public to view the Queen lying in state.

Here's some footage of the line taken a few moments ago:

Image source, Reuters

Thanks for joining us - here is a brief recap of what has been happening this afternoon:

• The Queen is now lying in state in Westminster Hall in London, and mourners are lining up to enter and pay their respects from 17:00 BST
• Huge queues are expected, and the government earlier warned that people could face 30-hour waits to get in
• The coffin of Queen Elizabeth II was transported from Buckingham Palace on a gun carriage in a slow-moving procession which lasted around 38 minutes
• King Charles III, Princes William and Harry, and other senior royals followed on foot behind the coffin
• A short service followed, led by the Archbishop of Canterbury, Justin Welby, which was attended by senior politicians including Prime Minister Liz Truss and Labour leader Sir Keir Starmer

Dawn Livingstone, on The Mall with six of her family, all from County Tyrone, said the moment the Queen's coffin passed had been sad, sombre and fitting.

"She has left a legacy that will never be paralleled by anyone else.”

Matthew Ferguson, her son-in-law, said he had been lost for words.

“It’s the closest I have ever been to the Queen. It’s been a privilege and an overwhelming experience,” he said.

For his wife, Victoria, 27, it was a moment of racing hearts and deafening silence as the Queen passed.

The family, who left home at 2am, were heading to Westminster Hall to soak up more of the atmosphere before flying home at 10pm.

Nick Beake
Reporting from The Mall

Image source, PA Media

The Queen is now lying in state, and thousands turned out to see her final journey from Buckingham Palace.

Crowds at the far end of The Mall fell silent as the sombre thump of the drum echoed out.

Both young and old, who moments earlier had been cheerfully reminiscing about the Queen’s extraordinary life, bowed their heads.

As her coffin passed by there were tears. Some made the sign of the cross, army veterans saluted their former commander-in-chief - while families embraced.

They had seen the Queen - their Queen - the only Queen most had known, leave her home for the final time. Seconds after Queen Elizabeth II’s coffin passed out of sight, thunderous applause broke out, filling the warm London afternoon air.

Hundreds of people lined the streets on the route of the procession, with huge crowds also gathering to watch on large screens in Hyde Park.

Image source, Getty Images

Image source, Wireimage

Image source, Getty Images

Image source, Getty Images

Politicians from across the UK are in Westminster Hall to mark the vigil being held as the Queen's lying-in-state begins.

Prime Minister Liz Truss and Leader of the Opposition Sir Keir Starmer are standing side-by-side, dressed in black and looking solemn.

They are joined in the ancient hall by Liberal Democrat leader Sir Ed Davey, as well as the first ministers of Scotland and Wales, Nicola Sturgeon and Mark Drakeford.

Petroc Trelawny
commentating on BBC One and BBC iPlayer

It was a grey morning in London but now the sun pours through the windows of Westminster Hall.

This great act of ceremony of pageantry and military precision is deeply moving for all involved.

I'm sure you will have spotted a few wiping a tear from their eye this afternoon.