By Andre Rhoden-Paul BBC News
Tributes have been paid to the Queen's "unstinting service" at a ceremony held in St George's Chapel, Windsor, where she was later laid to rest.
The ceremony, led by the Dean of Windsor, was attended by 800 people, including royalty and staff.
But only family members remained as the Queen was buried alongside her late husband the Duke of Edinburgh.
The hearse arrived in Windsor following her state funeral service at Westminster Abbey.
The state hearse made its way to the Berkshire town, with flowers still on its bonnet and roof from well-wishers who had thrown them as the royal cortege made its way from Wellington Arch in London.
The route avoided motorways to allow as many people as possible to pay their last respects.
Thousands of people on that route looked on, some of them applauding, as the hearse passed them by.
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The Queen's journey on the Long Walk to Windsor Castle
The procession made its way about one mile along the Long Walk up to Windsor Castle, with members of the Armed Forces lining the way.
King Charles III then walked behind his mother's coffin, accompanied by the Queen's other children - the Princess Royal, the Duke of York and the Earl of Wessex.
The Prince of Wales, the Duke of Sussex and Peter Phillips also joined them in the procession to St George's Chapel.
The Queen's coffin, draped in the royal standard with imperial state crown, orb and sceptre on top, was lifted from the state hearse into the chapel where it sat on a catafalque.
The Dean, the Very Rev David Conner, began the ceremony by praising a "life of unstinting service" to the nation and Commonwealth.
He said of the Queen: "In the midst of our rapidly changing and frequently troubled world, her calm and dignified presence has given us confidence to face the future, as she did, with courage and with hope."
The crown jeweller removed the instruments of state - the imperial state crown, the orb and sceptre - from the coffin before they were put on the altar, symbolising the end of the Queen's reign.
King Charles then placed on the coffin a small crimson regimental flag called the Camp Colour - traditionally used to indicate the location of the commanding officer.
The coffin was then lowered into the royal vault, before the Sovereign's Piper played a lament.
Guests at the service included the late Queen's staff past and present, alongside prime ministers of countries of which the monarch was head of state.
At the separate private burial service on Monday evening, the Queen was laid to rest with her late husband Prince Philip in the King George VI Memorial Chapel.
That service was only attended by the Royal Family - details of it have not been disclosed, with Buckingham Palace calling it a "deeply personal family occasion" - but the burial was confirmed on the official Royal Family website.
The chapel houses the remains of the Queen's father George VI, her mother the Queen Mother and sister Princess Margaret.
Earlier, King Charles III walked behind his mother's coffin as it proceeded from Westminster Hall to the abbey.
About 2,000 people gathered at the service, including world leaders and royalty.
This was the first state funeral since Sir Winston Churchill's in 1965 and was the biggest ceremonial event since World War Two.
Planning of the order of service for the ceremony was discussed with the Queen over a number of years.
St George's Chapel is where the Queen worshipped at Easter and celebrated baptisms, confirmations and weddings during her reign.
In a touching gesture, the Queen's faithful corgis Muick and Sandy also made an appearance at Windsor castle.
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