STORY: Prime Minister Liz Truss and Defence Minister Ben Wallace were among the group of military and civic figures to receive it.
The queen's daughter, Princess Anne, and Anne's husband Vice Admiral Sir Timothy Laurence, who had traveled on the plane from Edinburgh, joined the delegation before pallbearers brought the coffin to a waiting hearse.
The queen's coffin will be taken to Buckingham Palace, before it is taken to Westminster Hall to lie in state starting from Wednesday (September 14) until the funeral.
Thousands of people filed past Queen Elizabeth's flag-draped coffin laid at rest in Edinburgh overnight and during the day on Tuesday.
In London, members of the public will be allowed to process past the coffin 24 hours a day until the morning of the funeral.