Queen's coffin arrives at Buckingham Palace

King Charles and members of the royal family received the coffin of the late Queen Elizabeth at Buckingham Palace on Tuesday, after tens of thousands of people lined the streets in heavy rain to mark its arrival in the British capital.

On a dark night, the well-lit hearse travelled slowly from a nearby airport through London, with crowds stood all along the route, some in the road, others throwing flowers, and many ditching their cars or running from nearby streets to catch a glimpse of the cortege.

As it entered the grounds of the London palace, the police outriders who had led the way stopped to bow their heads.

Charles, who automatically became king on the death of his mother last week, had gathered to received the coffin along with his three siblings, two sons William and Harry, and other senior members of the royal family, a palace spokesperson said.

Princess Anne, the queen's only daughter, travelled with the coffin, first from the remote castle at Balmoral to Edinburgh, where it was greeted by tens of thousands of mourners, and then as it was brought to London.

"It has been an honour and a privilege to accompany her on her final journeys," Anne said in a statement. "Witnessing the love and respect shown by so many on these journeys has been both humbling and uplifting."

In Edinburgh, a party of bearers from the Royal Air Force carried the casket onto a transporter plane. A kilted honour guard from the Royal Regiment of Scotland stood with fixed bayonets as a regimental band played the national anthem as the plane began to taxi. With that, Scotland bade farewell to the queen.

On Wednesday, the coffin will be taken on a gun carriage as part of a grand military procession to Westminster Hall, where a period of lying in state will begin until the funeral on Monday.

Members of the public will be allowed to walk past the coffin for 24 hours a day until the morning of the funeral, which will be attended by dozens of world leaders including U.S. President Joe Biden.