This is where we'll leave our text commentary.

But you can continue watching events in the House of Commons and Lords, as well as highlights from this historic day in Brussels, by clicking the links above.

Just a bit more from Laura Kuenssberg's Michael Gove interview. He also spoke about how his frustration of being in government shaped his opinion on the EU.

"Documents would cross my desk, I'd be asked whether or not I thought something was a good idea.

"I would occasionally say I'm not sure this is a good idea and then I was told, well, there's nothing you can do about it, this is an EU law.

"That's going to change, it's going to end.

"And as a result, actually, there won't be a hiding place for politicians like me.

"I can't blame Europe for unemployment or any of the policies that this government might be responsible for.

"And in that respect, Brexit means that politicians are no longer able to run away from the voters."

European Parliament
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Image source, EP

European Parliament
Brussels

Speaking after the vote, European Parliament President David Sassoli says MEPs are "deeply saddened" to see the UK leave the EU.

Paying tribute to the departing UK members, he says: "We truly appreciate all the work you have done over the last few years".

"You are leaving the European Union, but you will still be part of Europe".

Quoting Labour MP Jo Cox, who was murdered during the Brexit campaign, he adds: "We have a lot more in common that what divides us."

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Brussels

Image source, EP

The European Parliament has voted to ratify the Brexit withdrawal agreement by 621 votes to 49, with 13 abstentions.

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Brussels

Continuing, Michel Barnier says the EU will "firmly defend" its interests during the next stage of negotiations on the future relationship after Brexit.

He thanks British MEPs who have contributed to the "European project" down the years.

Switching into English, he say he will like to wish the UK well.

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Chief EU Brexit negotiator Michel Barnier now speaks. He says the debate was a "moving" one. "I am very touched," he adds.

"We continue to regret the decision [of the UK to leave the EU] but we respect it," he says.

He argues that the withdrawal agreement ensures the UK leaves the EU in "an orderly fashion".

He says seeking to protect EU citizens from uncertainty has "always been our priority".

Boris Johnson is to address the nation at 2200 GMT on Friday, on his Facebook page.

The PM told viewers of his latest Facebook question time about his plans for celebrating Brexit night in a way that is "respectful of the scale of the event" and as a "moment for all of us to come together in a spirit of confidence".

The UK, of course, formally leaves at 23:00 GMT.

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Labour's Theresa Griffin calls Brexit a "political tragedy" that will "diminish our country's standing in the world".

She says she will "continue to believe" the country would be better off as an EU member, and will "keep the faith that one day we can come back".

Liberal Democrat MEP Judith Bunting says the withdrawal agreement is a "bad deal for Britain" that will worsen rights for workers.

She adds she will "not be blackmailed by Boris Johnson" into supporting the Brexit agreement.

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Image source, EP

"I give you my word the Scottish government will continue to protect the interests of all EU citizens who have chosen to make Scotland their home," says SNP MEP Aileen McLeod.

She says she hopes the European Parliament will welcome Scotland back if, one day, the country becomes independent and opts to re-join.

"I hope very much you will leave a light on for Scotland," she adds.

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Liberal Democrat MEP Luisa Porritt says she will be voting against the withdrawal agreement later, calling Brexit a "regressive, reckless right-wing project".

She says while the UK's exit is now inevitable, she doesn't believe it will be permanent.

"See you soon, dear friends," she concludes in French.

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There's a tearful intervention from Green MEP Molly Scott Cato, who says the UK's departure is a matter of "grief and regret".

She calls for compassion to be shown to EU citizens, and the revival of friendship and twinning arrangements which "thrived" in the decades before the UK joined the EU.

She says now is not the time to start a campaign for the UK to rejoin, but adds: "We must keep the dream alive, especially for young people."

She says she hopes one day the UK returns "to the heart of Europe".

A bit more from Michael Gove.

"I think one of the problems in the past, certainly before the referendum, is that individuals were often treated as though they were just interchangeable units of economic production, rather than people being given a sense of dignity and a sense of pride and having their attachment, both to their country and to where they grew up recognised," he told Laura Kuenssberg.

"In the past one of the stories that we've told is, people need to get up and get on, to get on their bike.

"One of the things that we're going to try to do is to demonstrate that you do not need to leave the community that you love, in order to be happy and successful.

"And, of course, part of that is economics, but part of it also is a different approach to valuing people, a different political approach."

You might remember it was then Conservative Employment Secretary Norman Tebbit who spoke in 1981 of how his how his father "got on his bike and looked for work" during the Depression - rather than expecting work to come to him.

The BBC's political editor Laura Kuenssberg has been speaking to Michael Gove - the Chancellor of the Duchy of Lancaster, also considered to be one of the most important ministers in the cabinet.

It's a wide-ranging interview, touching on Brexit, the Conservative Party and the future of the country among many other topics.

On the latter, he says: We've got to change the geography of this country.

"We've got to make sure that some of the things which drive productivity growth in other parts of the country - that's investment in infrastructure and investment in skills - is at the heart of everything that the government does.

"But there's something broader than that as well.

"When you've got an electoral coalition like the one that Boris has assembled, then it's partly about making sure that people feel a sense of belonging, a sense of pride in their community, alongside pride in their country."

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Labour MEP Richard Corbett says he will be voting against the withdrawal agreement, arguing it is "bad for Britain and bad for Europe".

"They said it would be good for Britain and the economy - the opposite is true," he says.

"That is why the British public voted 52% for parties demanding a second referendum in the general election.

"Brexit does not have the wholehearted consent of the British people."

He predicts that the UK will return to the EU, arguing that young people are opposed to Brexit.

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In his final speech as an MEP, Brexit Party leader Nigel Farage says the moment of Brexit at 23.00 GMT on Friday will mark a "point of no return".

“Once we’ve left, we're never coming back," he says. He adds that he hopes Brexit will mean "the end of this project".

"What we've proved is the British are too big to bully."

At the end of his speech, the Brexit Party delegation wave miniature union flags and cheer, prompting a rebuke from Irish MEP Mairead McGuinness, who is chairing the debate.

However Mr Farage responds "that's it, it's all over, finished," before leaving the chamber.

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Veteran Conservative Euroscpetic MEP Daniel Hannan, who was elected to the assembly in 1999, says the 1992 Maastricht Treaty was a turning point in British EU membership.

He adds that a "parting of ways" became "inevitable" after David Cameron's renegotiation of British membership ahead of the 2016 referendum.

He says the EU, however, is "losing a bad tenant, but gaining a good neighbour".