Queen Elizabeth II's coffin arrives in Edinburgh after a crowd-lined final journey from Balmoral

Queen Elizabeth II's coffin has been carried into the Palace of Holyroodhouse in Edinburgh after a crowd-lined final journey from Balmoral.

Princess Anne dropped a curtsy to her mother as the cortege came to end after a six-hour trip from the Queen's favourite Highland retreat past thousands of mourners lining streets in Scottish towns and cities throughout.

The seven-car cortege carrying the oak casket, draped with the Royal Standard of Scotland, left Balmoral Castle at 10.07am before the poignant curtsy and a guard of honour welcomed it to Holyroodhouse, where her late Majesty had stayed only weeks before.

The hearse's convoy included the Princess Royal, the Queen's daughter, her husband Admiral Sir Tim Laurence, the minister of Crathie Kirk and a representative of the Lord Chamberlain's Office.

Queen Elizabeth II began her final journey when her coffin emerged from Balmoral Castle carried by six of the gamekeepers from her Scottish estate.

Until now, the late Queen has lain in the oak coffin in the ballroom at Balmoral Castle, where estate staff have been able to say goodbye in private following her death on Thursday.

It was described as "a scene of quiet dignity" by a senior palace official.

The coffin will next travel to London and finally Windsor, where Queen Elizabeth II will be interred next to her husband, the Duke of Edinburgh, in a small family vault.