The route from the state entrance of Windsor Castle to St George's Chapel is being lined with personnel from the Royal Navy, Royal Marines, The Highlanders, 4th Battalion Royal Regiment of Scotland and the Royal Air Force.
Guns are to be fired by The King's Troop Royal Horse Artillery from the East Lawn throughout the procession.
The bands of the Grenadier Guards and Rifles Regiment, members of the Household Cavalry and a Royal Navy "piping party" will also be present. Pallbearers from the Royal Marines and other regiments and corps associated with the duke will later carry his coffin.
The duke's favourite driving carriage, accompanied by two of his grooms, has arrived ahead of the funeral.
It is pulled by his two trusty black Fell ponies, Balmoral Nevis and Notlaw Storm, and will stand in the Quadrangle when the funeral procession goes past - which was a personal wish of the duke's. His cap and whip were placed on the seat of the carriage.
22:26 The hearse designed by Prince Philip arrives
A specially-modified Land Rover hearse, which Prince Philip helped to design over 16 years, has arrived at Windsor Castle.
The vehicle was manufactured at Land Rover's factory in Solihull in 2003. The duke requested the vehicle be repainted in military green and helped to design the open top rear of the car.
22:37 Members of royal family arrive at chapel
22:40 A military band plays music selected by the duke
Military bands play music selected by the duke, including Jerusalem and Elgar's Nimrod, as troops bow their heads and the Land Rover - which will act as a hearse - is driven into the quadrangle.
As the choir sings, the coffin is carried to its place on the catafalque, the raised platform where it will rest during the service.
Members of the Royal Family are led to their places in the Quire.
The choir are singing part of the Funeral Sentences by William Croft, biblical verses set to music by the 18th Century composer and organist.
The words include "I am the resurrection and the life" from the Gospel of John, chapter 11, verses 25 and 26, and "I know that my redeemer liveth" from the book of Job, chapter 19, verses 25 to 27.
His long life has been a blessing, dean says
Now we hear the bidding, an invitation to prayer, said by the Right Reverend David Conner, Dean of Windsor.
"We are here today in St George's Chapel to commit into the hands of God the soul of his servant Prince Philip, Duke of Edinburgh," he says.
The dean says that "with grateful hearts" we remember the ways in which "his long life has been a blessing to us".
"We have been inspired by his unwavering loyalty to our Queen, by his service to the nation and the Commonwealth, by his courage, fortitude and faith," he says.
He tells the congregation that "our lives have been enriched" by the challenges he set, the encouragement he gave, "his kindness, humour and humanity".
The dean concludes the bidding with the words: "We therefore pray that God will give us grace to follow his example, and that, with our brother Philip, at the last, we shall know the joys of life eternal."
Members of the Royal Family are seated in their own households during the service, in accordance with coronavirus regulations.
Brothers the Duke of Cambridge and Duke of Sussex are sitting opposite each other in St George's Chapel, with William joined by members of his family while Harry is seated alone. His wife Meghan was unable to travel from the US as she is pregnant.
23:30 Prayers of faith and hope
After prayers - including the Lord's Prayer - are sung, the Dean of Windsor says the traditional collect from the Burial of the Dead service in the Book of Common Prayer, which has been used by the Church of England for hundreds of years.
It expresses the faith that those who believe in God the Father and in Jesus Christ "shall not die eternally" and the hope that "at the general resurrection in the last day, we may be found acceptable in thy sight".
23:31 Archbishop gives thanks for a 'life of service'
The Archbishop of Canterbury personalises a prayer for the duke, adding thanks for "his resolute faith and loyalty, for his high sense of duty and integrity, for his life of service to the nation and Commonwealth, and for the courage and inspiration of his leadership".
"To him, with all the faithful departed, grant thy peace," the archbishop says.
23:33 'A fair pattern of valiant and true knighthood'
"God save our gracious Sovereign and all the Companions, living and departed, of the Most Honourable and Noble Order of The Garter," says the Dean of Windsor as the congregation respond: "Amen."
He offers praise to God for the life of Prince Philip, who he says left us "a fair pattern of valiant and true knighthood".
"Grant unto him the assurance of thine ancient promise that thou wilt ever be with those who go down to the sea in ships and occupy their business in great waters," the dean prays.
23:34 Words of consolation for those who mourn
In the archbishop's next prayer, he offers words of comfort for the mourners, 30 of them gathered in St George's Chapel and many more watching around the world.
"Almighty God, Father of all mercies and giver of all comfort," he says. "Deal graciously, we pray thee, with those who mourn; that casting every care on thee they may know the consolation of thy love."
The Queen is seated at the front of the quire, nearest the altar. Directly opposite her is the Prince of Wales alongside the Duchess of Cornwall.
Closest to the Queen, two seats to her left, is the Duke of York.
23:29 Choir sings funeral anthem
The choir sings the funeral anthem, the Russian Kontakion of the Departed.
"Give rest, O Christ, to thy servant with thy Saints," they sing. "Where sorrow and pain are no more."
It ends on a note of praise: "Alleluia, Alleluia, Alleluia".
Now the Garter Principal King of Arms, who is the principal adviser to the sovereign on matters of ceremony and heraldry, reads out the Duke of Edinburgh's titles in full.
"Thus it hath pleased Almighty God to take out of this transitory life unto his divine mercy the late most Illustrious and most Exalted Prince Philip, Duke of Edinburgh," he begins.
The long list runs from Earl of Merioneth and Baron Greenwich to Admiral of the Fleet, Field Marshal in the Army and Marshal of the Royal Air Force.
He ends the list with the duke's most famous role, husband to the Queen, "whom may God preserve and bless with long life, health and honour and all worldly happiness".
23:47 From lament to action stations: military bands pay tribute
We now hear from a series of military bands, beginning with the Pipe Major of The Royal Regiment of Scotland who plays a lament.
The Last Post, the famous bugle call played at military funerals and memorials, is sounded by the Buglers of the Royal Marines.
The final note of the bugle call hangs in the air for a moment and resonates around the chapel before the State Trumpeters of the Household Cavalry sound the Reveille.
That's followed by the Buglers of the Royal Marines sounding Action Stations - a signal that all hands should be ready for battle, and an apt tribute for the duke, who "would want us to get on with the job" as Prince William noted.
23:51 The Royal Family leave the chapel
The choir sing God Save the Queen as the funeral comes to an end.
Then the Royal Family leave the chapel by the Galilee Porch, escorted by the Dean of Windsor and the Archbishop of Canterbury.
1:47 In pictures: Flags at half-mast and gun salutes in Europe
Tributes have been paid in some of the European countries with links to the Duke of Edinburgh.
In Denmark, flags at the Amalienborg Palace in Copenhagen were seen flying at half mast. Born in Corfu in 1921, Prince Philip was the only son of Prince Andrew of Greece and Denmark and Princess Alice of Battenberg. That made him Prince of Greece and Denmark.
There has also been a ceremony in Stockholm, where the duke's Royal Order of the Seraphim shield was placed in the Riddarholmen Church during a one hour bell-ringing.
Prince Philip was made a Knight of the Order of the Seraphim by King Gustaf VI Adolf in 1954.
Wreaths from the King & Queen of Norway, King & Queen of Sweden, Queen of Denmark, the King & Queen of Greece, King & Queen of the Netherlands, & the Grand Duke & Grand Duchess of Luxembourg at the Funeral of the Duke of Edinburgh: