This is how the children of Queen Elizabeth II keep vigil at her coffin 2:28
London (CNN) —
King Charles III was joined by his siblings, Princes Andrew and Edward, and Princess Anne, as they held a brief vigil around Queen Elizabeth II's coffin on Monday night.
The royal family set up guard for the coffin at St. Giles' Cathedral in Edinburgh, Scotland, where it will remain until Tuesday night.
Hundreds of mourners lined up outside the cathedral to pay their respects Monday night.
The cathedral will remain open to the public overnight, according to guidelines issued by the Scottish Government.
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The previous Monday, a short service of thanksgiving was held at the cathedral following a procession from the Palace of Holyroodhouse.
The 73-year-old monarch and his brothers walked behind the hearse, while Camila, queen consort, traveled in a car behind.
King Charles, Princess Anne and Prince Andrew walk behind the hearse carrying the coffin of Queen Elizabeth II, in Edinburgh, Scotland.
Carlos wore the ceremonial full-day uniform with the rank of quarterback and carried the Quarterback Baton given to him by his mother when he was awarded the rank in 2012.
The procession moved through crowds of spectators who remained in almost total silence in the streets of Edinburgh.
Elizabeth's coffin was draped in the Royal Standard of Scotland and adorned with a wreath, including dried white Balmoral heather.
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The hearse was flanked by a group of bearers from the Royal Regiment of Scotland, as well as a detachment of the King's personal guard in Scotland, the Royal Company of Archers.
After passing down the Royal Mile, the coffin was given a guard of honor by the Royal Company of Archers at the cathedral.
The royal family then attended a short service of prayer and reflection, along with a congregation made up "from all walks of Scottish society", according to Buckingham Palace.
Also in attendance were UK Prime Minister Liz Truss, former Prime Minister Gordon Brown and Scotland's First Minister Nicola Sturgeon.
After the service, the King had an audience with the Scottish Prime Minister, as well as a meeting with the Speaker of the Scottish Parliament.
He also went to the Scottish Parliament to receive a motion of condolence.
"I know that the Scottish parliament and the people of Scotland share with me a deep sense of sorrow at the death of my beloved mother," Charles said in a speech to parliament.
"My mother had, as I did, the greatest admiration for the Scottish people for her magnificent achievements and her indomitable spirit."
They insult Prince Andrew during the procession of the coffin of Elizabeth II 1:00
Sturgeon said that Elizabeth had been "the anchor of our nation" during a speech in parliament.
"Your Majesty, we stand ready to support you, as you continue your own life of service, and as you build on the extraordinary legacy of your beloved mother, our queen," Sturgeon told Charles.
Earlier, the king promised to continue the queen's "dedicated service" to the British people in his first speech to the UK Parliament in London.
The queen consort accompanied Charles on his first visit to the Palace of Westminster since becoming king.
In the old Westminster Hall, both Houses of Parliament offered their condolences on the death of his mother.
"We gather today in remembrance of the queen's extraordinary dedicated service to her nations and her people," the king said.
"When she was very young, her late Majesty pledged herself to serve her country and her people.
"This vow was fulfilled with unsurpassed devotion. She gave an example of selfless duty that, with the help of God and her advice, I am determined to follow faithfully," continued Carlos.
At the conclusion of his brief speech, a rendition of "God Save the King", the British national anthem, was made,
After the visit, the monarch and his wife flew to Edinburgh, where the queen's body had been resting since Sunday.
The couple headed straight to the Palace of Holyroodhouse for the Ceremony of the Keys, a tradition in which the Lord Provost offers the monarch the keys to the city.
Isabel II