The Duke of Edinburgh has been remembered during a funeral service reflecting his naval career, passion for engineering and dedication to the Queen.

Philip’s children walked behind his coffin carried by a Land Rover Defender hearse the Queen’s consort helped design. They were joined by the duke’s grandsons, the Princess Royal’s husband, and the Queen’s nephew the Earl of Snowdon.

The royals walked in step as a military band played and all stared straight ahead as they made their way to the duke’s final resting place.

The National:

Cutting a solitary figure at the front of the quire, nearest the altar, the Queen sat apart from her children during the service in St George’s Chapel, while William and Harry were seated opposite one another.

The Dean of Windsor, in the Bidding, paid tribute to Philip: “With grateful hearts, we remember the many ways in which his long life has been a blessing to us.

“We have been inspired by his unwavering loyalty to our Queen, by his service to the Nation and the Commonwealth, by his courage, fortitude and faith.

“Our lives have been enriched through the challenges that he has set us, the encouragement that he has given us, his kindness, humour and humanity.”

READ MORE: Prince Philip: Duke of Edinburgh dies aged 99 at Windsor Castle

The First Minister was among those who marked a minute's silence at 3pm as members of the royal family gathered for Philip’s funeral.

A gun salute at Edinburgh Castle marked the start and the end of the silence.

Following the funeral, Nicola Sturgeon said: “On behalf of the people of Scotland, I once again express my deepest condolences to Her Majesty the Queen and members of the Royal Family.

“The many tributes paid to the Duke of Edinburgh in recent days have shown the depth of his contribution to public life over more than 70 years as well as his longstanding ties to Scotland.

“Many have reflected on his distinguished wartime record, his commitment to countless charities and organisations, and his love and support for the Queen throughout their marriage.

“Today, as the Queen and the Royal Family mourn the death of a loved one, we take this opportunity to celebrate and honour an extraordinary life.”