Queen Elizabeth II's coffin seen for first time as the Queen leaves Balmoral for Edinburgh

The news of Her Majesty's death was announced in a statement on behalf of the Royal Family on Thursday evening.

Her death brings an end to a 70-year reign, the longest in history, having ascended the throne following the death of her father, King George VI on 6 February 1952.

Draped with the Royal Standard of Scotland and with a wreath of flowers on top, her coffin had remained at rest in the Balmoral ballroom so the late monarch’s loyal Balmoral estate workers can say their last goodbyes.

Mourners pay tribute to Queen Elizabeth II

Queen Elizabeth II begins final journey as she leaves Balmoral Estate

The six-hour journey began at 10 am as the hearse travels through Aberdeen, Dundee, Perth and other towns and villages to allow mourners to gather to pay their respects.

Her Majesty is expected to arrive in the Scottish capital around 4 pm today where she will remain overnight.

The hearse carrying the coffin of Queen Elizabeth II, draped with the Royal Standard of Scotland, leaving Balmoral as it begins its journey to Edinburgh. (Image: PA)

Scotland's First Minister Nicola Sturgeon and other party leaders in Scotland are expected to observe the coffin as it goes past the Scottish Parliament.

READ MORE: Queen Elizabeth II's funeral date confirmed and will be held at Westminster Abbey

READ MORE: Where will the Queen be buried?

It will then be taken into the Palace of Holyroodhouse, where it will remain for the night.

As the late Queen left Balmoral, a small gathering of well-wishers stood in silence as they lined the route out of the estate.

The exit from the gates had been closed to members of the public in the hour before the coffin emerged.

Transport bosses said an “unprecedented” amount of preparation and planning had gone into drawing up the route.