As news of Queen Elizabeth II's sudden ill health broke, members of the royal family rushed to be by her side at her Balmoral estate on Thursday.
It is believed that only her two eldest children reached the estate before she died.
Here's how it all unfolded. All times are UK time.
King Charles III and Princess Anne: By the Queen's bedside
By chance, King Charles III and the Queen's only daughter — Anne, Princess Royal — had both been in Scotland this week.
On early Thursday morning, it was confirmed that the King, at the time Prince Charles, caught the royal helicopter from Dumfries House in Ayrshire.
Camilla — now the Queen Consort — also travelled to Balmoral, but it is unclear if she travelled alone or alongside her husband.
"Their Royal Highnesses The Prince of Wales and the Duchess of Cornwall have travelled to Balmoral," a Clarence House spokesperson said, according to Reuters.
The Dumfries House estate belongs to Charles in Ayrshire, Scotland. It's about 245 kilometres from Balmoral.
The Princess Royal was already in Scotland, having carried out events earlier in the week including the Braemar Royal Highland Gathering, which she was pictured attending alongside Charles and Camilla.
They were both able to reach the estate in time to say goodbye.
Where were William and Kate?
Later on Thursday afternoon Prince William, now the Prince of Wales, Prince Andrew, Prince Edward and Sophie the Countess of Wessex flew into Aberdeen airport. It was reported they flew on an RAF plane that arrived from RAF Northolt.
The four then travelled by car to the Queen's Balmoral estate, a journey of about 73 kilometres.
BBC Scotland journalist Linda Sinclair said they arrived at Balmoral Castle at 5:11pm.
Prime Minister Liz Truss was informed of the Queen's passing at 4:30pm, Downing Street confirmed. Ms Truss was told the news by Cabinet Secretary Simon Case.
This meant that the four royals missed seeing the Queen before she died.
Kate, now the Princess of Wales, did not travel to Scotland to accompany her husband. Instead, she stayed at Windsor while her three children were in school.
Prince Harry the last to arrive and first to leave
Prince Harry was the last of the senior royals to arrive at Balmoral on Thursday.
The Duke of Sussex arrived at Balmoral shortly after the announcement of the Queen's death. He made his way to Scotland by himself while it's believed his wife Meghan stayed behind at Windsor Castle
Photos show the duke travelling to Balmoral alone, sitting in the back seat of a black vehicle. He took the vehicle to the estate after touching down at Aberdeen airport.
Sky News's Political Editor in the UK, Beth Rigby, confirmed the Duchess of Sussex did not accompany him to Balmoral.
The news of the Queen's death was confirmed to the nation at 6.31pm. Buckingham Palace said in a statement: "The Queen died peacefully at Balmoral this afternoon. The King and The Queen Consort will remain at Balmoral this evening and will return to London tomorrow."
It is understood that both Harry and Meghan were already in the UK, due to attend the WellChild Awards in London on Thursday evening in London.
The duke was first to leave Balmoral Castle on Friday morning. He was spotted in a black Range Rover driving out of the gates at 8:20am.
