Prince William and Prince Harry will join their father to walk behind the Queen’s coffin on Wednesday.
The new King will lead a royal procession from Buckingham Palace to Westminster Hall.
It will mark another chapter in the history of the Queen’s final journey, which began at Balmoral on Sunday and reached Buckingham Palace tonight.
Thousands across the world watched the late monarch’s coffin pass through the country to allow for people to say final goodbyes.
On Wednesday afternoon, the Queen’s casket will be moved through London with King Charles leading her family.
It was confirmed tonight that William and Harry will follow directly behind.
The trio – along with the Duke of York, the Princess Royal and the Earl of Wessex – will follow the coffin on foot as it makes its journey to Westminster Hall.
Anne’s son Peter Phillips and her husband Vice Admiral Sir Tim Laurence will also walk in the procession, as well as the Duke of Gloucester and the Earl of Snowdon.
The Queen Consort, the Princess of Wales, the Countess of Wessex and the Duchess of Sussex will travel by car.
The procession will leave the palace at 2.22pm and is expected to arrive at Westminster Hall at 3pm.
A service lasting around 20 minutes will be led by the Archbishop of Canterbury accompanied by the Dean of Westminster.
The brothers unexpectedly came together when they viewed floral tributes left to the late Queen at Windsor Castle.
William, Kate, Harry and Meghan arrived in the same vehicle and greeted well-wishers for around 40 minutes.
In his televised address to the nation on Friday evening, the new King talked of his love for Harry and Meghan, saying: ‘I want also to express my love for Harry and Meghan as they continue to build their lives overseas.’
Then in Harry’s tribute to his grandmother, released on Monday, the 37-year-old said he wanted to honour his father at the start of his reign as King.
The last time Charles and his two sons were seen together in public was at the Service of Thanksgiving for the Queen in St Paul’s Cathedral during June’s Platinum Jubilee celebrations.
But on that occasion, Harry and Meghan were seated some distance from Charles and William.
The outing marked Harry and Meghan’s first public appearance alongside the Windsors since they stepped down as senior royals in 2020.
In April 2021, Harry and William joined their father when they walked behind the Duke of Edinburgh’s coffin at his funeral.
The brothers were separated by their cousin Peter Phillips but he dropped back half a pace at one point so the siblings appeared closer together.
After the funeral service, William and Harry could be seen chatting as they walked back up the hill from the chapel to the castle.
Mourners have already joined the queue to attend the Queen’s lying in state at Westminster Hall which begins at 5pm on Wednesday.
It will continue until 6.30am on September 19 – the day of the Queen’s funeral.
Government guidance says the queue is expected to be very long, with people standing for ‘many hours, possibly overnight’ and with very little opportunity to sit down.