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(CNN) --
King Charles III and his siblings, Princess Anne, Prince Andrew and Prince Edward, held a brief vigil by Queen Elizabeth II's coffin in Westminster Hall on Friday, joining members of the military who have mounted a continuous surveillance on his remains for the past two days.
Standing silently, head bowed, the King stood at the head of the Queen's coffin, while his sister Anne, the Princess Royal, and brother Edward, the Earl of Wessex, stood at the sides.
Andrew, the Duke of York, was at the foot of the coffin.
In a break with royal tradition, Prince André, the queen's second son, wore his military uniform for the vigil even though he stepped down from royal duties in 2019.
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While custom dictates that only working members of the royal family wear military uniforms during ceremonial occasions, Andrew was allowed to wear his during the vigil as a mark of special respect for the queen.
The queen's children attend a vigil inside Westminster Hall in London, Britain, on September 16, 2022.
Many other members of the royal family came to observe the vigil.
Camila, the queen consort, accompanied the king.
The Queen's granddaughters Zara Tindall and Princesses Beatrice and Eugenie were there, as was the Queen's cousin, Prince Michael of Kent.
Seen for the first time since the queen's death last Thursday, some of the queen's great-grandchildren were also in attendance.
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Queen Elizabeth II's coffin has been in Westminster Hall, the oldest part of the Palace of Westminster, since Wednesday.
The medieval hall is where the ancestors of the queen also lay.
Her father King George VI in 1952, her mother Queen Elizabeth the Queen Mother in 2002, her grandfather George V in 1936 and her great-grandfather Edward VII in 1910, the first royal to be veiled .
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The queen's coffin is covered with the Royal Standard and has the Imperial State Crown, Orb and Scepter on it.
The public has a chance to see the closed casket in person until 6:30 am Monday, when the room will close in preparation for the state funeral later that morning.
The line to pay their respects reached up to 10 miles (16 kilometers) on Friday and had to be closed repeatedly after reaching capacity.
At one point, the wait was at least 14 hours, according to the official government-provided tracker.
Princess Eugenie, Princess Beatrice and her husband Edoardo Mapelli Mozzi attend the vigil on September 16, 2022.
The continuous guard inside Westminster Hall is carried out by the Sovereign's Body Guards of the Honorable Corps of Knights-at-Arms, the Royal Company of Archers, the Royal Guard assisted by the Royal Guard of the Tower of London and by the Officers of the House Division during the wake and burial.
Each watch lasts six hours, and the people inside those watches keep watch for 20 minutes at a time.
The royal vigil on Friday night was held in conjunction with the military guard and was similar to one the queen's children held at St. Giles Cathedral in Scotland earlier this week.
The queen's eight grandchildren are expected to occupy the same place on Saturday night, when it will be their time to keep vigil at their grandmother's coffin, a royal source told CNN on Friday.
Prince William, Prince of Wales, will stand at the head of the coffin, and Prince Harry, Duke of Sussex, will stand at the foot.
The source added that the Prince of Wales will be flanked by Zara Tindall and Peter Philips, who are Princess Anne's children. The Duke of Sussex will be flanked by Princesses Beatrice and Eugenie, Prince Andrew's daughters, along with the sons of Prince Andrew. Prince Edward, Lady Louise Windsor and Viscount Severn.
Cheers and boos in Wales
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King Charles III and Camilla, the queen consort, visited Wales on Friday, met members of the public and received a motion of condolences.
The king said he assumed his new duties as monarch with "an immense gratitude for the privilege of having been able to serve as Prince of Wales."
"Surely it must be considered the greatest privilege to belong to a land that can inspire such devotion," he said.
Speaking in Welsh, the king said his son Prince William, who took the title of Prince of Wales from his father, has "a deep love of Wales".
But the new king also found some signs of disapproval on Friday.
When he arrived at Cardiff Castle in the evening, he was greeted with cheers and boos.
As many people in the crowd cheered and waved flags, some protesters booed loudly.
King Charles seemed to be shaking his head slightly as his car passed and entered the castle.
After his return to London and before joining the vigil at Westminster Hall, Charles gave a reception for religious leaders in the Bow Room at Buckingham Palace, the palace said in a statement.
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