Queen Elizabeth II’s coffin has descended into the royal vault at St. George’s Chapel in Windsor, marking the end of the queen’s public funeral services. The service concluded with the singing of "God Save The King."

The final event is Queen Elizabeth's private burial at St. George’s Chapel. She will be buried with her husband, Prince Philip, and her parents.

Queen Elizabeth’s committal service is underway at St. George's Chapel at Windsor Castle.

Guests at the service include United Kingdom Prime Minister Liz Truss and former Prime Minister Tony Blair.

At the end of the service, Queen Elizabeth’s coffin will be lowered into the royal vault.

Queen Elizabeth’s coffin has arrived at St. George's Chapel in Windsor for the final ceremony of the week, a committal service. Elizabeth will be reunited with her husband, Prince Philip, and her coffin will be lowered into the royal vault.

The hearse is draped with flowers thrown by onlookers.

Rev. Dr. Iain Greenshields, moderator of the General Assembly of the Church of Scotland, recounted to ABC News the weekend he spent with Queen Elizabeth in Balmoral in her final days.

“She was 96 and you could see her fragility, but as soon as she started talking and as soon as she was engaged with you, a different kind of person emerged,” Greenshields said.

5:54

Reverend speaks about recent, final meal with Queen Elizabeth II

She was still filled with her signature humor, he noted.

“I was staying in a place called the Tower Rooms and she said, ‘Your queen is sending you to the tower. She just smiled at me as she said that, and she made sure that I understood, that I got the joke,” he said.

“I asked her what I could possibly give to somebody who has everything, and she smiled at me. I offered her the cross, and she took it very graciously and she wished me the very best in my year ahead as the moderator of the Church of Scotland,” he said.

For Queen Elizabeth, faith was “fundamental,” he said.

“She said right at the beginning of her time, when she was becoming queen, that she was going to ask God for wisdom,” he said, “and that’s something that persisted throughout her life.”

“When I was chatting to her about her faith, she spoke about it and said she had no regrets about starting that journey of faith. She had no regrets at all,” Greenshields said.

Greenshields called her death “astonishing,” noting that she’d been “so vital, so alive, so engaging.”

Queen Elizabeth’s four children -- King Charles, Princess Anne and Princes Andrew and Edward -- are walking directly behind the coffin during the procession.

Walking behind the queen’s children are: William, the Princes of Wales; his brother Harry, the Duke of Sussex; and the brothers’ cousin, Peter Phillips. This marked the second time since the queen’s death that Princes William and Harry were seen in public together amid reports of tension between the brothers.

Several spouses of the children and grandchildren are traveling by car: Camilla, the Queen Consort; Kate, the Princess of Wales; Meghan, the Duchess of Sussex; and Sophie, the Countess of Wessex.

Members of the queen's close personal staff are also participating in the procession.

Londoners have lined the route and were seen wiping away tears as they watched the slow and solemn procession.

Big Ben is tolling at one-minute intervals and minute guns are firing from Hyde Park.