The Queen's grandchildren stood guard around her coffin, during an historic vigil in Westminster Hall.
Notably, the Duke of Sussex, Prince Harry joined his brother the Prince of Wales in wearing uniform during the vigil – the King decided his youngest son could wear uniform for the vigil even as a non-working royal.
All four of Her Majesty's children were dressed in uniform during Friday's vigil, with an exception made for Prince Andrew, who is no longer a working royal, permitted by the King to wear his military uniform as a "special mark of respect" for the Queen.
Prince William, stood at the head of the coffin, with Prince Harry at the foot.
They were joined by Peter Phillips, Zara Tindall, Princesses Beatrice and Eugenie, as well as Lady Louise Windsor, and James, Viscount Severn, whose parents the Earl and Countess of Wessex watched on from the sidelines during the vigil.
The Duke of Sussex wore a Blues and Royals No 1 Uniform, KCVO Neck Order and Star, Afghanistan Operational Service Medal, Golden, Diamond and Platinum Jubilee medals and Army Pilot Wings.
The Prince of Wales also wore the Blues and Royals No 1 uniform but with the Garter Sash, the Garter Star, the Golden, Diamond and Platinum Jubilee Medals and RAF pilot wings.
Tonight was the first time in history that a Monarch's grandchildren have carried out the ceremonial mark of respect.
Earlier in the week, the Duke of Sussex's team had confirmed that he would not wear military uniform at official Royal events to mark Her Majesty Queen Elizabeth's death due to his non-working Royal status.
The Sussexes team at the time said that the initial decision to deny the Duke of Sussex the right to wear a military uniform at events commemorating his late grandmother Queen Elizabeth II "cannot erase his decade of military service".
Prince Harry served in the Army for 10 years, undertaking two tours of Afghanistan, rising to the rank of captain and had previously been denied the chance to wear his military uniform as he publicly mourned as he is no longer a working Royal.
Despite being a former Army officer he has been in civilian dress for official events, including walking behind his grandmother's coffin when it was carried to Westminster Hall to lie in state.
After the decision taken by the Duke and Duchess of Sussex to stand down as senior members of the Royal Family, Prince Harry returned Royal patronages and honorary military appointments to the Queen but he continued to maintain his close connection to the Armed Forces and the veteran community.
Final preparations are underway for Her Majesty The Queen's funeral on Monday, with senior politicians and royal dignitaries from around the world expected to arrive.
In total, approximately 5,949 UK Armed Forces personnel will have deployed on ceremonial duties throughout the course of Operation London Bridge, the codename for the funeral plan following the Queen's death
Earlier in the day, King Charles and the Prince of Wales greeted mourners in the queue for the Queen's lying-in-state.
Hundreds of people in line at Lambeth, south London, cheered and applauded as King Charles and Prince William emerged.
The Prince of Wales thanked people for waiting in line for many hours for the Queen's lying in state, as he shook hands with mourners.