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Prince Philip's funeral has begun at Windsor Castle with his children, Prince Charles, Princess Anne, Prince Edward and Prince Andrew, leading a procession.

The Duke of Edinburgh's coffin is making its final journey to St George's Chapel in a Land Rover he spent 16 years designing and altering especially for the occasion. It was carried to the vehicle by senior military officers.

Princes William and Harry are also taking part in the procession, walking with their cousin, Peter Phillips, between them, while the Queen travelled in the State Bentley behind.

The Band of the Grenadier Guards and senior members of the military are also walking in the procession.

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While the Queen, Prince Harry and a handful of other royals have been staying at Windsor Castle for the past week, the other funeral guests – including the Duke’s children, other grandchildren and three of his German relatives – began arriving at Windsor Castle on Saturday morning.

Prince William and Kate Middleton arrived by car around an hour before the procession began before Prince Charles was driven to the Castle 50 minutes later.

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The Military regiments taking part were also seen readying themselves in the castle grounds as the Archbishop of Canterbury, the Most Rev Justin Welby, arrived at St George's Chapel.

The Archbishop will preside over the funeral after receive the coffin after the national minute's silence.

The final preparations for today’s historic event saw the Duke’s coffin, which has been lovingly decorated with a wreath of flowers, his personal standard, sword and naval cap, moved from the private chapel to the Inner Hall of Windsor Castle.

The coffin will then make its final journey in a Land Rover hearse – that the Duke himself spent 16 years designing and adapting for the occasion.

The procession will take eight minutes and members of the Royal Family will take part on foot, alongside staff from his household.

Guns will be fired by the King's Troop Royal Horse Artillery from the east lawn of Windsor Castle during the procession, and the Curfew Tower Bell will toll.

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The coffin will be received at the foot of the West Steps, and the national anthem will play as it enters the Horseshoe Cloister.

There will then be a one-minute silence, which is being observed nationwide, before the coffin is moved inside and the service begins.

The order of service, released on Friday night, revealed how Prince Philip had a huge input into choosing the hymns and psalms that will feature in today’s moving ceremony. Just 30 guests will be present, and the Queen will sit alone, to ensure the funeral meets Covid-related guidelines.

The service is set to commemorate Prince Philip’s association with the Royal Navy, with music chosen for the day including the hymn Eternal Father, Strong to Save.

The hymn includes nautical lyrics and also previously featured at the funeral of the Duke’s much-loved uncle, Earl Mountbatten of Burma, who died in 1979.

In a move that echoes the Queen Mother’s 2002 funeral, no members of the Royal family will give readings and there shall be no eulogy.

Ahead of the funeral, the Queen thanked the thousands of people across the globe who have sent their condolences following the death of her much-loved husband.

A picture of the Queen and the Duke was posted on the Buckingham Palace Instagram account, alongside the caption: "The Queen wishes to share this private photograph taken with The Duke of Edinburgh at the top of the Coyles of Muick, Scotland in 2003.

"Her Majesty and the Royal Family are grateful for all the messages of condolence from all around the world and have been touched to see and hear so many people sharing fond memories of The Duke, in celebration of his life."

In the eight days since the Duke’s death was announced by the Palace, numerous members of the Royal family shared their own personal tributes to the late 99-year-old.

In statements shared within minutes of each other, Princes William and Harry paid tribute to their grandfather with the former praising him for being “an extraordinary man and part of an extraordinary generation”.

“I will never take for granted the special memories my children will always have of their great-grandpa coming to collect them in his carriage and seeing for themselves his infectious sense of adventure as well as his mischievous sense of humour!” he added.

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Prince Harry’s statement read: “He will be remembered as the longest reigning consort to the Monarch, a decorated serviceman, a Prince and a Duke.

“But to me, like many of you who have lost a loved one or grandparent over the pain of this past year, he was my grandpa: master of the barbecue, legend of banter, and cheeky right ‘til the end.”

The Duke of Sussex is attending the funeral without Meghan Markle by his side, as the Duchess of Sussex – who is currently pregnant with the couple’s second child – was not cleared to fly by a doctor.

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