The Duke of Sussex wiped away his face as he stood next to Meghan Markle at the culmination of an emotional procession from Buckingham Palace.
Her coffin arrived at Westminster Hall, where it will lie in state until her funeral on Monday.
A gun carriage that had borne the coffins of her mother and father carried the late monarch to Westminster Hall – a procession of pomp and pageantry through the heart of the capital watched by tens of thousands who lined the route.
Prince Harry wore a morning suit decorated with medals after he was banned from wearing military regalia to the ceremony despite completing two tours of Afghanistan.
A spokesperson for the Sussexes said on Tuesday: “Prince Harry, The Duke of Sussex will wear a morning suit throughout events honouring his grandmother.
“His decade of military service is not determined by the uniform he wears and we respectfully ask that focus remain on the life and legacy of Her Majesty Queen Elizabeth II.”
Once the short, moving service was over and the Queen’s relatives left the hall the Sussexesboth bowed and curtsied to the coffin and then reunited.
The Sussexes broke royal formation to tightly hold hands and comfort each other as they left the ceremony.
Queues to see the Queen in state have stretched as far as three miles with patient Royalists snaking along the South Bank.
Inside Westminster Hall some took off their hats and stood, taking in the moment. Others were seen crying.
One of the first people to pay their respects to the Queen at Westminster Hall was Polly from Hertfordshire.
She told Sky News the experience of seeing the coffin was “overwhelming”.
“I knew what to expect but nevertheless it’s so serene and so beautiful, it’s overwhelming.
“It’s really an occasion to say goodbye to a Queen we’ve all respected and cared for.”
Polly said she “came out quite emotional”.
“We will miss the Queen,” she said.