Tens of thousands of people lined the street in Edinburgh to watch the procession to the cathedral.
The procession was filled with tradition.
The skirl of bagpipes was the only sound as kilted soldiers from the Royal Regiment of Scotland bore the coffin from the Palace of Holyroodhouse and placed it in the hearse.
A gun salute sounded out from a battery on Edinburgh Castle as the hearse began its journey.
King Charles III and his siblings — Anne, Andrew and Edward — walked behind the hearse.
The Royal Company of Archers provided the guard of honour.
While a grieving crowd stood outside the cathedral, the royal family, political leaders and dignitaries attended a service of thanksgiving for the Queen.
People embraced the chance to witness history.
“I just feel so privileged that we can watch this moment,” Carol Williams of Dunfermline said.
“We are so lucky that we have this opportunity to pay our respects like this. If she died in London, we would never have had this opportunity.”
Earlier on Monday, the King addressed members of the UK parliament at Westminster Hall in London.
He arrived to a fanfare of trumpets with his wife Camilla, Queen Consort.
The royal couple sat on ceremonial chairs, with cavalry troopers in red tunics and plumed helmets standing to attention behind.
He pledged to follow the Queen’s example in maintaining its independence.
“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,” he said.
“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.”