The state hearse carrying Britain's Queen Elizabeth II's coffin has arrived at Buckingham Palace.

Mourners cheered and clapped as the hearse travelled down Constitution Hill and around the Queen Victoria Memorial before driving through the gates of the palace and through the central arch into the quadrangle.

The hearse slowed down as it approached the gates. Outriders stopped with their heads bowed at the end of the journey, while a police officer at the gate saluted.

The coffin arrived in London earlier after being flown from Edinburgh, accompanied by her daughter Princess Anne.

In a statement, Princess Anne said that it was "an honour and a privilege" to accompany the coffin.

The C-17 Globemaster plane, recently used for aid missions in Ukraine, arrived at the Northolt airbase at 6.54pm ahead of her funeral in London capital.

The plane's landing was witnessed by British Prime Minister Liz Truss and Defence Secretary Ben Wallace, who stood in sombre silence among a delegation assembled to welcome those on board.

The queen's coffin left St Giles' Cathedral in Edinburgh after 4pm for Edinburgh Airport. A guard of honour by the King's Bodyguard for Scotland and pipers followed the cortege towards Edinburgh Castle and on to the airport.

Earlier, thousands of members of the public moved solemnly past the oak coffin as it stood on public view for 24 hours at St Giles' Cathedral.

Mourners in Edinburgh showed up in their "tens of thousands" to pay their respects, with many queueing for hours overnight.

Members of the public file past the coffin of Queen Elizabeth in St Giles' Cathedral

Ian Duncan, the Deputy Speaker in the House of Lords, said crowds along the Royal Mile were "ten-deep", while the streets surrounding the historic precinct were equally crammed with people.

"That is an extraordinary outpouring of respect, grief, celebration of an extraordinary woman," Mr Duncan told the Australian Broadcasting Corporation's Radio National programme this morning.

"By goodness, they were ten-deep. They had to stop people trying to get there because it would have become dangerous."

Meanwhile, crowds gathered at Hillsborough Castle in Northern Ireland to greet King Charles on his first official visit as Britain's monarch today.

In London, members of the public are already queueing for the queen's lying in state at Westminster Hall, which opens tomorrow and thousands are still placing floral tributes in Green Park.

Mourners have been asked by Royal Parks not to leave marmalade sandwiches - a nod to the queen's comedy sketch with Paddington Bear - for fear of a negative effect on wildlife.

Members of the public view floral tributes in Green Park, near Buckingham Palace, London

The king will be joined by Camilla as he receives his mother's coffin at Buckingham Palace, where she spent so many of her decades.

The Prince and Princess of Wales will also be at the palace.

A guard of honour formed of three officers and 96 soldiers from The King's Guard will be mounted in the Quadrangle.

Military commands, usually shouted, will be given as quietly as possible in honour of the solemn occasion.

The coffin will be carried by a bearer party to the Bow Room where a piper will play a lament.

It will remain in the Bow Room overnight before a procession tomorrow to Westminster Hall for the start of the lying in state.

An early morning rehearsal for the procession of Queen Elizabeth's coffin from Buckingham Palace to Westminster Hall

The king's visit to Northern Ireland today comes ahead of a trip to Wales later in the week.

After touching down in Belfast, Charles and Camilla travelled to Hillsborough Castle in Co Down, the royal residence in Northern Ireland, for several engagements including a message of condolence on behalf of the people of Northern Ireland from the speaker of the Stormont Assembly Alex Maskey.

Both Houses of Parliament gathered at Westminster Hall in London yesterday to express their condolences to the new monarch, and Charles promised "faithfully to follow" the example set by his mother.

Afterwards, the king led the royal family in a procession behind the queen's coffin in Edinburgh as it was taken from the Palace of Holyroodhouse to St Giles' Cathedral.