The Queen met by cheers as she arrives back at Buckingham Palace for final night with entire royal family

Queen Elizabeth II has arrived home.

The royal hearse arrived at Buckingham Palace today to cheers from the crowd, where the entire royal family was waiting to stay with her for one final night.

Her Majesty's coffin had been lying in state at St Giles' Cathedral in Edinburgh for the last 24 hours, with 26,000 people passing by her body to pay tribute.

It was driven to Edinburgh Airport and then flown to RAF Northolt, outside London, accompanied by Anne, the Princess Royal, and her husband, Vice Admiral Sir Timothy Laurence, on board an RAF Globemaster C-17.

King Charles was waiting to meet the royal hearse as it arrived back at Buckingham Palace. He was joined by the Queen Consort, Camilla, as well as the Prince and Princess of Wales and Prince Harry and Meghan Markle.

The Queen's coffin will be placed in Buckingham Palace's Bow Room overnight, before being moved to Westminster Hall.

Members of the public will then be allowed to visit the Queen's coffin as it lies in state for more than four days.

More than a million people are expected to file past the late monarch's body, with visitors allowed in 24 hours a day.