The Duke of Edinburgh’s coffin was carried to the chapel in a Land Rover hearse, which was designed by the duke himself, and escorted by senior royals on foot on Saturday.
Music and marches were performed ahead of the funeral by guards and members of the military as guests arrived at the chapel.
After a national minute silence, royal family members were pictured seated at a distance from one another wearing masks in St George’s Chapel for the service.
The Queen, dressed in black, sat alone as she bade a final farewell to her husband of 73 years.
Here are some of the funeral’s key moments in pictures.
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5. Senior royal members in the procession
From left to right - The Earl of Wessex, the Duke of Cambridge, Peter Phillips and the Duke of Sussex, walking in the procession to St George's Chapel, Windsor Castle, Berkshire, for the funeral of the Duke of Edinburgh. Photo: Steve Parsons
6. The Prince of Wales
The Prince of Wales walking in the procession to St George's Chapel ahead of Prince Philip's funeral which started after a national minute's silence at 3pm. Photo: Steve Parsons
7. The Duchess of Cornwall and the Duchess of Cambridge
The Duchess of Cornwall and the Duchess of Cambridge arriving at St George's Chapel, Windsor Castle. Photo: Victoria Jones
8. St George's Chapel
Members of the Royal family, the Princess Royal, the Prince of Wales, the Earl of Wessex, the Duke of York, Peter Phillips, the Duke of Cambridge, the Earl of Snowdon, the Duke of Sussex and Vice Admiral Sir Tim Laurence, follow as the coffin of the Duke of Edinburgh is carried into The Quire during his funeral service at St George's Chapel, Windsor Castle. Photo: Barnaby Fowler