King Charles will be joined by his sons the Prince of Wales and Duke of Sussex as they walk behind the Queen’s coffin from Buckingham Palace to where she will lie in state.
The three will be joined by the Duke of York, Princess Royal and the Earl of Wessex as they all follow the coffin on foot as it makes its journey to Westminster Hall on Wednesday afternoon.
Princess Anne's son Peter Phillips and her husband Vice Admiral Sir Tim Laurence will also walk in the procession, as well as the Duke of Gloucester and the Earl of Snowdon.
The Queen Consort, the Princess of Wales, the Countess of Wessex and the Duchess of Sussex will travel by car.
Mourners have already joined the queue to attend the Queen’s lying in state at Westminster Hall which begins at 5pm on Wednesday.
It will continue until 6.30am on September 19 – the day of the Queen’s funeral.
Government guidance says the queue is expected to be very long, with people standing for “many hours, possibly overnight” and with very little opportunity to sit down.
The procession will leave the palace at 2.22pm and is expected to arrive at Westminster Hall at 3pm.
A service lasting around 20 minutes will be led by the Archbishop of Canterbury and accompanied by the Dean of Westminster.
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