Zara Tindall is a picture of dignity as she makes history at Queen's vigil.

Zara Tindall and her brother Peter Phillips looked emotional as they took part in a touching 15-minute tribute to the Queen.

The siblings, whose parents are Princess Anne and Captain Mark Phillips, appeared alongside their six cousins for the vigil held at Westminster Hall. 

Zara stood at the bottom right-hand corner of the Queen's coffin, while Peter was on the bottom left-hand side.

During the vigil, Zara stood next to Prince Harry, at the base of the coffin, and Lady Louise Windsor, the daughter of the Earl and Countess of Wessex.

Meanwhile, Peter stood next to James, Viscount Severn, and Lad Louise's younger brother, on the other side of the Duke of Susses.

Prince William led the royal party into the hall where the Queen is lying in the state ahead of her funeral, following three taps from a soldier's sword.

The royals stood in near-silence, keeping watch as members of the public flowed past.

At around 6.15 pm, another three wraps of the sword were heard and the Queen's grandchildren exited.