Prince Harry, the Duke of Sussex, has issued a tribute to “granny”, saying: “We, too, smile knowing that you and grandpa are reunited now, and both together in peace”.

It is the first time the royal has spoken publicly since the death of his grandmother, although he was seen greeting members of the public in Windsor on Saturday, alongside wife Meghan, the Duchess of Sussex, and the new Prince and Princess of Wales.

In a statement on his Archewell website, he wrote: “In celebrating the life of my grandmother, Her Majesty The Queen-and in mourning her loss-we are all reminded of the guiding compass she was to so many in her commitment to service and duty. She was globally admired and respected.

“Her unwavering grace and dignity remained true throughout her life and now her everlasting legacy. Let us echo the words she spoke after the passing of her husband, Prince Philip, words which can bring comfort to all of us now: ‘Life, of course, consists of final partings as well as first meetings.’

Queen dies – latest news: King to address Westminster before leading royal procession

“Granny, while this final parting brings us great sadness, I am forever grateful for all of our first meetings-from my earliest childhood memories with you, to meeting you for the first time as my Commander-in-Chief, to the first moment you met my darling wife and hugged your beloved great-grandchildren.

“I cherish these times shared with you, and the many other special moments in between. You are already sorely missed, not just by us, but by the world over.”

‘We smile knowing you and grandpa are reunited’

The Duke also paid tribute to his father, writing: “And as it comes to first meetings, we now honour my father in his new role as King Charles III.”

In the King’s first address to the nation on Friday, the day after the Queen died, he expressed his love for Prince Harry and Meghan.

“I want also to express my love for Harry and Meghan as they continue to build their lives overseas,” he said.

Prince Harry ended his tribute to the Queen saying: “Thank you for your commitment to service.

“Thank you for your sound advice.

“Thank you for your infectious smile.

“We, too, smile knowing that you and grandpa are reunited now, and both together in peace.”

Public queue to see monarch’s coffin

His tribute comes as crowds began to gather along the route of the royal procession in Edinburgh.

The Queen’s coffin is being taken from the Palace of Holyrood House to St Giles’ Cathedral today.

King Charles will follow behind the coffin and lead a procession of members of the Royal Family.

Mourners will be able to view the coffin, with the Crown of Scotland placed on top, from 5pm.

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This is known as lying at rest, rather than lying in state, which will not happen until the Queen is in London.

Once the Queen has been flown to England, the public will be able to view her coffin as it lies at Westminster Palace for four days – but there have been warnings of lengthy, overnight queues, to be able to do so.