Hundreds of thousands of people lined the route of the Queen’s funeral procession in London to say their last goodbyes.
The King and his siblings walked behind the coffin as it left Westminster Abbey following the state funeral, while other royals are travelling by car.
During the service, Charles was visibly moved and looked close to tears as the national anthem was sung in the Abbey.
Prince George was also comforted by his mother, the Princess of Wales, during the service.
In a personal touch, the wreath adorning the Queen’s coffin had a handwritten note, which was penned by the King.
The message said: “In loving and devoted memory.”
Around 2,000 people attended the Queen’s funeral at Westminster Abbey, including members of royal families from across Europe, politicians from all sides of the political spectrum and world leaders, including US President Joe Biden and French President Emmanuel Macron.
Charles and the Queen Consort walked immediately behind the coffin as it entered the Gothic church for the service, followed by the Princess Royal and Vice Admiral Sir Tim Laurence, then the Duke of York, followed by the Earl and Countess of Wessex.
Prince George and Princess Charlotte walked with their parents and were followed by the Duke and Duchess of Sussex and other members of the royal family.
During his sermon, the Archbishop of Canterbury told the congregation the outpouring of emotion for the Queen “arises from her abundant life and loving service, now gone from us”.
Justin Welby described the Queen as having touched “a multitude of lives” and being a “joyful” figure for many.
He told mourners: “People of loving service are rare in any walk of life. Leaders of loving service are still rarer.
“But in all cases those who serve will be loved and remembered when those who cling to power and privileges are forgotten.
“The grief of this day – felt not only by the late Queen’s family but all round the nation, Commonwealth and world – arises from her abundant life and loving service, now gone from us.
“She was joyful, present to so many, touching a multitude of lives.”
Mr Welby, standing in the church where kings and queens have been crowned since 1066, also said that the Queen had declared on her 21st birthday “that her whole life would be dedicated to serving the nation and Commonwealth”.
He added: “Rarely has such a promise been so well kept. Few leaders receive the outpouring of love we have seen.”
Among the hymns sung at the service, The Lord’s My Shepherd, I’ll Not Want, was also sung at the Queen’s wedding to the Duke of Edinburgh in the abbey in 1947.
The other hymns were The Day Thou Gavest, Lord, Is Ended; and Love Divine, All Loves Excelling.
As the abbey fell silent, the Queen’s Piper, Warrant Officer Class 1 (Pipe Major) Paul Burns, played the traditional lament Sleep, Dearie, Sleep. Also played were The Last Post, Reveille and the national anthem.
The Queen’s coffin has been draped in the Royal Standard, with the wreath of flowers requested by the King.
Cut from the gardens of Buckingham Palace, Clarence House and Highgrove House, the flowers and foliage have been chosen for their symbolism.
They include rosemary, for remembrance, and myrtle cut from a plant which was grown from a sprig of myrtle in the Queen’s wedding bouquet. Myrtle is an ancient symbol of a happy marriage.
The funeral was broadcast live at around 125 cinemas and several cathedrals in the UK, including Vue York.