Video shows Princess Anne curtsying to Queen Elizabeth's coffin after accompanying it on a 6-hour journey from Balmoral to Edinburgh

• A video shows the touching moment Princess Anne curtsied to the Queen's coffin.
• Anne accompanied the coffin as it was relocated from Balmoral to Edinburgh on Sunday.

Princess Anne curtsied to her mother Queen Elizabeth II's coffin as it arrived at the Palace of Holyroodhouse in Edinburgh on Sunday.

The Queen died at Balmoral Castle on Thursday at the age of 96. The monarch's coffin made a 6-hour journey from Balmoral to Holyroodhouse, the royal family's official residence in the Scottish capital. As Insider previously reported, Anne and her husband, Vice Admiral Sir Timothy Laurence, traveled in a car behind the hearse for the journey.

After arriving in Edinburgh, Anne and other members of the royal family gathered outside the palace to pay their respects as the Queen's coffin was carried inside.

A video taken by BBC News and shared on Twitter by Royal Central shows the touching moment Anne curtsied to her mother's coffin.

There is due to be a procession on Monday as the Queen's coffin will be moved from Holyroodhouse to the nearby St Giles Cathedral, where members of the public will have the opportunity to visit and pay their respects, according to the Scottish Government website.

The Queen's coffin will lie in rest at the cathedral before being relocated to Westminster Hall in London on Wednesday, where the public will be allowed to visit in advance of her funeral on Monday, September 19, the royal website states.