The Queen’s state funeral will take place at Westminster Abbey on September 19 at 11 a.m.
Schools will close on the day of the funeral.
The carefully choreographed plans will include a four-day exhibition at Westminster Hall from September 14.
The oak coffin of Elizabeth II – which lies in repose in the ballroom at Balmoral Castle covered with a Royal Standard of Scotland topped with a wreath – will be transported by road to the Palace of Holyroodhouse in Edinburgh on Sunday.
On September 12, the coffin will be taken from Holyroodhouse in a procession along the Royal Mile to St Giles Cathedral, before being airlifted by RAF plane to London on Tuesday.
The Queen will remain in state for “four clear days” at Westminster Hall, arriving there on the afternoon of September 14, until 6.30am the morning of her funeral.
Thousands of people will be able to parade to see the coffin of the deceased monarch. Further details on how the public can attend will be announced in the coming days.
A spokesman for the king said the monarch’s main objective would be to lead the royal family and the nation in mourning over the coming days.
The Earl Marshal, who has overall responsibility for the funeral, said it would be a chance to repay a heartfelt debt by carrying out the Queen’s last wishes.
He described how he and his colleagues in the Royal Household, Armed Forces, Police and other Church and State institutions would carry out their duties over the coming days with “the heart heavier” but with “the firmest resolve to secure a fitting farewell to one of the defining figures of our time”.
The Marshal added: “As His Majesty the King spoke of his family, I think it applied to all of us when he said on his broadcast yesterday that ‘we owe him the sincerest debt’.
“I think we can, in some way, repay that debt by carrying out her last wishes by arranging Her Majesty The Queen’s funeral.”
Among the details released were plans for Scottish elements – known as Operation Unicorn.
After the coffin is moved on Sunday, it will rest in the throne room until Monday afternoon.
He will then proceed in a procession to St Giles Cathedral in Edinburgh, along the Royal Mile with the King and the other children of the late Queen, the Princess Royal, the Duke of York and the Earl of Wessex who will follow on foot, with Anne’s husband. Admiral Sir Tim Laurence.
Camilla, now queen consort, and the Countess of Wessex will follow in car and also attend the service at St Giles.
Scots will be able to pay their respects when the coffin rests for 24 hours at St Giles in the care of Vigils of the Royal Company of Archers, in what will be considered a mini lying in state.
Continuous vigils will be maintained, including one by the King and members of the Royal Family at 7.20pm – a tradition known as the Princes’ Vigil.
When the Queen’s coffin is flown from London by RAF plane to RAF Northolt on Tuesday evening, it will be accompanied by the late monarch’s only daughter, Princess Anne, before being moved to rest in the Bow Room of Buckingham Palace.
A procession on September 14 will see the coffin, adorned with the Imperial State Crown, carried on a gun carriage of the King’s Troop Royal Horse Artillery from Buckingham Palace to the Palace of Westminster ready for the Lying in State at Westminster Hall.
King Charles, members of the Royal Family and senior staff of the late Queen’s and King’s families will walk slowly behind in dignified silence without music in a route that will take 38 minutes.
Buckingham Palace declined to give details of which members of the Royal Family will join the motorcade, but it will no doubt be members of the Royal Family, including the Queen’s children, as well as the Prince of Wales.
A palace official described it as a silent procession without music, which would be “relatively small and personal” compared to a large ceremonial procession for Monday’s state funeral.
After the coffin arrives at Westminster Hall, the Archbishop of Canterbury will lead a short service attended by the King and other members of the Royal Family, after which the bedding will begin.
On the morning of the funeral, the coffin will be taken in a grand military procession from the Palace of Westminster to Westminster Abbey for the state funeral, then taken by a state hearse for a burial service in St George’s Chapel .