Charles, Anne, Edward and William, all dressed in ceremonial military uniform, saluted as the coffin was lifted off the gun carriage in front of the abbey.
Andrew and Harry, who are no longer working royals, were in morning suits and did not salute, even though both had served in conflict in the past, in the Falklands and in Afghanistan.
After 11 days of momentous change and activity since his mother died, Charles looked distraught and exhausted as the pall bearers carried the coffin into the abbey through the Great West Door for the funeral service.
Waiting just inside were his wife Camilla, the Queen Consort, as well as William's wife Kate and their children George, 9, and Charlotte, 7, and Harry's wife Meghan.
The royals followed the coffin up the aisle, with close-up television shots showing the grief on their faces.
William and Kate had their children between them as they walked, and could be seen touching their shoulders to support them. Later during the service, Charlotte could be seen swinging her legs as her feet could not reach the floor.
Reuters