Andrew joined Princess Anne and Prince Edward behind the former monarch's coffin, as it made its journey to Westminster Hall on Wednesday afternoon.
The Duke of York appeared solemn and forlorn as crowds of mourners flocked to central London to pay their respects to his late mother.
King Charles III, Prince William and Prince Harry were also on foot alongside Peter Phillips, Vice Admiral Sir Timothy Laurence, the Duke of Gloucester and the Earl of Snowdon.
Silence fell among the thousands-strong crowd as a muffled drum draped in black was beaten at 75 paces per minute.
Queen Elizabeth II's coffin was wheeled along The Mall on a gun carriage as the procession made its way to Westminster Hall.
A crown was placed on a purple cushion on top of the coffin which glistened in the afternoon sunshine.
The crown was positioned in front of a wreath made up of white roses, spray white roses, white dahlias and a selection of foliage, including pine.
The coffin was draped in the Royal Standard, with the Imperial State Crown on a velvet cushion with a wreath of flowers atop.
The Duke of York appeared solemn and forlorn
TOM NICHOLSON
Andrew joined Princess Anne and Prince Edward behind the former monarch's coffin
SARAH MEYSSONNIER
A crown was placed on a purple cushion on top of the coffin
SARAH MEYSSONNIER
Big Ben tolled at one-minute intervals as the procession made its way to the Palace of Westminster.
The Band of the Scots Guards and the Band of the Grenadier Guards also played funeral marches throughout the procession, starting with Beethoven’s Funeral March No.1.
Queen Elizabeth II's coffin had arrived at her former home on Tuesday evening in gloom and rain but for her departure from the palace the weather was bright and warm.
The coffin was transported on the George Gun Carriage, which carried King George VI’s coffin from Sandringham Church to Wolferton Station in February 1952 and was used during the funeral of the Queen Mother in 2002.
The journey from the palace to the ancient Westminster Hall, where King Charles I was tried, is expected to take 38 minutes – passing landmarks Queen Elizabeth II knew well like Horse Guards Parade, the Cenotaph and Downing Street.
Accompanied by her family, the Queen is effectively being handed over to the the nation for her lying in state over four days ahead of the state funeral on Monday.
A service lasting around 20 minutes was led by the Archbishop of Canterbury accompanied by the Dean of Westminster.
It comes as Andrew is set to play a “central role” in Queen Elizabeth II’s funeral on Monday.
But following the funeral, the Duke of York reportedly “has no hope of returning to public life once she is laid to rest”.
He will not wear military uniform in events mourning Queen Elizabeth II’s death, but will for the final vigil.
As a non-working royal, the Duke of York will not wear uniform except as a special mark of respect for Queen Elizabeth II at the final vigil in Westminster Hall.
Prince Andrew joined other members of the Royal Family as they followed Queen Elizabeth II's coffin on foot
SARAH MEYSSONNIER