London: King Charles has led a moving vigil around the Queen’s coffin while she lies in state at Westminster Hall as the public queue to view the catafalque reached a 24-hour wait on Friday, stretching almost eight kilometres along London’s Thames River.

All of the late monarch’s children – the King, his sister Princess Anne and brothers, Prince Andrew and Prince Edward, stood guard near their mother’s body during the 15-minute traditional ceremony that was first carried out in 1936 when King Edward VIII and his three brothers, Princes Albert, Henry and George, stood by the coffin of their late father, King George V.

King Charles III stands vigil beside the coffin of his mother, Queen Elizabeth II, in Westminster Hall.Credit:Getty Images

Seven days since the 96-year-old’s death, the senior royals looked exhausted as they stood motionless around the coffin. The emotional moment was also view by several other members of the family, dressed in black, including Queen Consort Camilla, Sophie, the Countess of Wessex and her children.

Members of the public who had lined up overnight were able to witness the vigil as they slowly walked past the coffin. Entry to the queue was paused on Friday morning after it reached capacity, and those who joined in the afternoon were told to bring warm clothing because a cold night was expected.

The King, the Princess Royal, the Duke of York and the Earl of Wessex – all in full military uniform – walked in a diamond formation towards the catafalque of their late mother, the Princess Royal walking with a stick.

They proceeded to stand at all four corners of the coffin, making a public vigil representative of their private grief. The four members of the party walked up the steps before turning their back on the coffin as they joined those guarding it.

Prince Andrew was permitted to wear military attire despite no longer being a working royal.Credit:Getty Images

The orb and sceptre that the Queen carried on her coronation have been reunited with the late monarch and sit on the casket.

Buckingham Palace has confirmed a separate vigil will be held by the Queen’s grandchildren on Saturday evening, where Prince Harry, who did two tours in Afghanistan with the British army, will – like Prince Andrew, the Duke of York – be allowed to wear military uniform despite no longer being a working member of the family.

Harry was given special dispensation by his father, the King, to wear his uniform after the Duke of York was told he could do the same as a “final mark of respect” for the most personal of gestures.

Princes William and Harry will be joined by Peter Phillips, Zara Tindall, princesses Beatrice and Eugenie, Lady Louise Windsor and James, Viscount Severn.

William, the Prince of Wales, said his grandmother would be “looking down” on her funeral service on Monday.

The Prince and Princess of Wales on Friday visited an army training centre in Surrey where Commonwealth soldiers have gathered to rehearse their roles ahead of Monday’s funeral.

There are 28 Australian troops, 64 Canadian soldiers and 25 from New Zealand taking part in the funeral service. Rehearsals were taking place onsite during the royals’ visit.

William told one Australian solider the royal family was “honoured to have you all here”, while they discussed how “strange” it had been going from the Queen’s Platinum Jubilee to her funeral in a matter of months.

The Prince and Princess of Wales, William and Catherine, meet military personnel – including representatives from Australia – during a visit to an army training centre in Guildford.Credit:Getty Images

He told the soldiers the difference between the celebrations in June and the funeral preparations had shown “the highs and lows of it all”.

The prince said having the Commonwealth represented in the funeral procession was part of his grandmother’s plans and that – as a stickler for detail – she would be watching.

Australian Prime Minister Anthony Albanese arrived in London on Friday and joined mourners in Green Park, near Buckingham Palace, where he and partner Jodie Haydon placed flowers alongside an Australian flag.

Prime Minister Anthony Albanese and his partner, Jodie Haydon, in Green Park, London.

“Quite clearly what we can see all around us is the affection in which Her Majesty Queen Elizabeth was held by people here in the United Kingdom, but also, of course, in Australia, and right around the Commonwealth,” Albanese said.

“Queen Elizabeth gave her a life of service. It was a life of dignity. It was a life that brought great respect from the world citizens, but in particular, in Australia, and it has been an honour to leave a tribute for Queen Elizabeth here.”

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