The Queen's coffin was behind the two princes.
The brothers were in the procession with King Charles.
The monarch's body will be put down before her funeral.
The Duke and Prince of Wales were walking behind the Queen's coffin.
The Queen passed away at the age of 96. The public were invited to pay their respects to her at St Giles' Cathedral. The plane flew to London on Tuesday.
The Queen's body will lie in state until her funeral on Monday after a procession from Buckingham Palace.
According to a Buckingham Palace press release, the procession traveled through Queen's Gardens, The Mall, Horse Guards and Horse Guards Arch, Whitehall, Parliament Street, Parliament Square, and New Palace Yard before arriving at parliament hall.
The Princess of Wales, along with her husband, the Prince of Wales, and the Queen's consort, were travelling in the same vehicle.
The vehicle behind the procession was different from the one behind which the two ladies were riding. The royal women were all dressed in black.
The royal family will attend a service after the coffin procession, according to a press release.
Hundreds of thousands of people are expected to pay their respects to the Queen when she is laid to rest next to her husband. The lines could last up to 30 hours, according to the news organization.
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