Prince Philip's passed away at the age of 99.
Joining the Queen in the vehicle was Lady in Waiting, Lady Susan Hussey.
Prince Philip's funeral takes place in Windsor today (Credit: Splashnews.com) Windsor and Prince Philip: What time does the funeral start?
Live coverage will be shown on BBC, ITV, and on Yahoo.
In the photo, the Queen and Duke of Edinburgh are seen relaxing outdoors and posing with a smile against the backdrop of mountains. The palace said the casual, unposed photo was a favourite of the queen.
Here is a list of notable figures joining the 94-year-old monarch for the funeral of the late Duke of Edinburgh at Windsor Castle, west of London.
More than 700 servicemen and servicewomen from the army, navy, air force and marines are to perform ceremonial roles in the funeral procession, reflecting Philip's Royal Navy service and ties with the military.
The duke was intimately involved in planning his own funeral service, selecting the music and making sure the ceremony reflects his military affiliations and personal interests.
On the day of the funeral, the Land Rover Defender will be used to carry his coffin to St George's Chapel.
It was Prince Philip who also encouraged young Princes William and Harry to walk behind their mother's cortege. They will be separated on the procession by their cousin Peter Phillips, 43, the son of Princess Anne.
10 a.m. ET: A National Minute of Silence is observed and the 50-minute funeral service, led by the Archbishop of Canterbury, begins.
Prince Philip’s funeral takes place in Windsor today
Once the service has finished and the royal family has departed the chapel, everything becomes private.
At the service, the Dean of Windsor, David Conner, will pay tribute to Philip´s "unwavering loyalty" to his wife, who turns 95 next week, the country and the Commonwealth, as well as his "courage, fortitude and faith".
On Saturday morning, Philip's coffin will be moved via a Bearer Party founded by The Queen's Company, 1st Battalion Grenadier Guards, and "positioned in the Quadrangle at Windsor Castle there will be representative detachments drawn from His Royal Highness's military special relationships".
Royal officials say the coffin is draped in Philip's personal standard, and topped with his Royal Navy cap and sword and a wreath of flowers.
Prince Philipp of Hohenlohe-Langenburg, 51, is the grandson of Philip's elder sister Princess Margarita.
"The tale of Harry and Meghan is an epic love story and I wish them both well, but I genuinely fear that it will not have a happy ending".
Along with Philip's children and grandchildren, the 30 funeral guests include other senior royals and several of his German relatives.
"If Queen Victoria is considered the grandmother of Europe, Prince Philip is the uncle of Europe", said Vassilis Koutsavlis, president of the Tatoi Royal Estate Friends Association.
Mourners have been instructed to wear masks and observe social distancing inside the chapel, and not to join in when a four-person choir sings hymns.