The Queen‘s procession passed through The Mall, which holds statues that were unveiled by the Queen in honour of both her parents.
A bronze memorial to her father King George VI was inaugurated early in her reign, in 1955.
Another bronze was put up in 2009 to remember the Queen Mother, who died in 2002 at the age of 101.
A little earlier, King Charles, the Prince of Wales, and the Princess Royal were pictured giving a salute as they passed the Cenotaph war memorial on Whitehall.
The Cenotaph is where the National Service of Remembrance takes place every November.
Prince Harry is not wearing military uniform for the funeral procession as he is not a working royal.
