The Queen Consort and Princess of Wales have left Buckingham Palace together as Queen Elizabeth II's coffin makes its way to Westminster Hall to lie in state.

Camilla, The Queen Consort and Catherine, The Princess of Wales travelled by car, while their husbands the King and Prince of Wales marched behind the coffin with other members of the Royal Family. Report by Buseld. Like us on Facebook at http://www.facebook.com/itn and follow us on Twitter at http://twitter.com/itn