•Six gamekeepers from her Balmoral estate placed her oak coffin into a hearse at 10:00 BST, ahead of a slow six-hour drive to the palace.
•Her coffin will remain there overnight.
Image: BBC
Thousands are expected to line the streets as Queen Elizabeth II's coffin travels from Balmoral to Edinburgh.
The coffin is being driven to the Palace of Holyroodhouse-the monarch's official residence in Scotland-as part of the journey to London for her funeral on 19 September.
Six gamekeepers from her Balmoral estate placed her oak coffin into a hearse at 10:00 BST, ahead of a slow six-hour drive to the palace.
Her coffin will remain there overnight.
People stood in silence outside the gates of Balmoral as the Queen's cortege left.
The coffin was draped in a Royal Standard with a wreath composed of some of the Queen's favourite flowers, all cut from the estate.
The Princess Royal, the Queen's daughter, travelled in the second car of the cortege with her husband Vice Admiral Sir Tim Laurence.
On Monday afternoon, the coffin will process from Holyroodhouse to St Giles' Cathedral, accompanied by the King and other members of the Royal Family.
The coffin will remain under continuous vigil for 24 hours, with the public able to pay their respects.
A service will be held at the cathedral in the evening.
The following day, Princess Anne will accompany her mother's coffin as it travels from Edinburgh Airport back to Buckingham Palace via RAF Northolt.
In Ballater, Aberdeenshire-the nearest village to Balmoral-people set up picnic chairs and tied union flags to barriers.
Scotland's First Minister Nicola Sturgeon said the "poignant" 175-mile journey from Balmoral was a chance to "mark our country's shared loss".
On Saturday, the Queen's younger children-Princess Anne, the Duke of York and Earl of Wessex-and their families viewed flowers at the gates of Balmoral Castle, with her granddaughter Princess Eugenie moved to tears.
Prince William and his wife Catherine-the new Prince and Princess of Wales-greeted well-wishers outside Windsor Castle, joined by the Duke and Duchess of Sussex.
In London, King Charles praised the Queen's "unequalled reign" as he addressed the Accession Council, where he was formally proclaimed monarch.
He also approved a bank holiday at the ceremony on the day of the Queen's funeral.
On Sunday, he will meet the Commonwealth secretary general Baroness Scotland-who publicly represents the association of 56 countries with historical ties to the UK - at Buckingham Palace.
He will then host a reception for High Commissioners-ambassadors - from the 14 other countries where the King is also head of state.
Further proclamations will be read in the Scottish and Welsh devolved parliaments, in Edinburgh and Cardiff, and the devolved Northern Ireland assembly in Belfast.