The procession will begin at around 2.25pm. The King flew to Edinburgh earlier today, accompanied by Camilla, Queen Consort. He greeted thousands of onlookers outside the Palace of Holyroodhouse, meeting with wellwishers who lined the streets of Edinburgh.
Walking behind King Charles, the Royal group is expected to include Prince Andrew, the Duke of York, Prince Edward, the Earl of Wessex, Anne, the Princess Royal and her husband Vice Admiral Sir Tim Laurence.
Meanwhile, Camilla, the Queen Consort, and other members of the monarchy will follow behind in cars.
The public will be able to view the coffin to pay their respects for 24 hours.
It will then be taken to London ahead of a period of lying in state at Westminster until the day of her funeral next Monday.
Quoting Shakespeare’s Henry VIII, Charles said the Queen had been “a pattern to all princes living”.
He added: “We gather today in remembrance of the remarkable span of the Queen’s dedicated service to her nations and peoples.
“While very young, her late Majesty pledged herself to serve her country and her people and to maintain the precious principles of constitutional government which lie at the heart of our nation.
“This vow she kept with unsurpassed devotion.
“She set an example of selfless duty which, with God’s help and your counsels, I am resolved faithfully to follow.”