The Duke of Edinburgh’s life and legacy were remembered during a funeral service reflecting his naval career, passion for engineering and dedication to the Queen.

During the poignant event attended by the Queen and his children and grandchildren, the duke was described as enriching the lives of all those he knew with his “kindness, humour and humanity”.

The day was one of contrasts, a spectacle of pomp and pageantry provided by the many regiments and military units associated with Philip during his long association with the Armed Forces who took part.

The Queen takes her seat for the funeral
The Queen takes her seat for the funeral (Jonathan Brady/PA)

There were simple touches that reflected the man, his polished dark green four-wheeled carriage was parked so it was passed by the funeral procession – his cap, whip and brown gloves lay neatly on a folded blanket.

And the wreath of white blooms, including roses and lilies chosen by the Queen, placed on top of his coffin included a handwritten card, edged in black, from his wife the Queen of 73 years.

In bright brilliant sunshine the funeral procession made its way through the precincts of the castle.

Philip’s children – Prince of Wales, Princess Royal, Duke of York and Earl of Wessex – 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 Duke of Sussex, Duke of Cambridge and Peter Phillips and Vice Admiral Tim Lawrence, 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 into the sun as they made their way to duke’s final resting place.

Philip had followed the Queen throughout her reign as he supported her as head of state, but now she followed him, travelling for part of the procession at the rear of the cortege in a state Bentley.

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.

The Prince of Wales
The Prince of Wales follows the Land Rover Defender carrying the coffin of the Duke of Edinburgh (Leon Neal/PA)

“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.”

His love of the sea and long association with the Royal Navy permeated the service reduced choir of four singing the hymn “Eternal Father, Strong to Save” – traditionally associated with seafarers and the maritime armed services.

The Duke of Sussex and Duke of Cambridge, who were separated by their cousin Peter Phillips during the procession, were seated opposite one another during the service.

Cutting a solitary figure at the front of the quire, nearest the altar, the Queen sat apart from her children.

Graphic of seating plan
(PA Graphics)

There was a space left beside her where her husband would have sat.

During the service the choir sang Psalm 104, set to music by William Lovelady, as had been requested by the Duke of Edinburgh.

Originally composed as a cantata in three movements, it was first sung in honour of Philip’s 75th birthday.

Following a series of prayers, all in the chapel stood as the coffin was lowered into the Royal Vault and the Dean of Windsor gave the Commendation.

Philip’s death left the monarchy grieving in private, but they made public appearances to recognise the support and condolences received throughout the week from the nation.

Charles spoke first for the family and praised his “dear Papa” for the “most remarkable, devoted service to the Queen, to my family and to the country”.

Duke of Edinburgh death
The Prince of Wales and the Duchess of Cornwall visit the gardens of Marlborough House, London, to view the flowers and messages left by members of the public outside Buckingham Palace (Jeremy Selwyn/Evening Standard/PA)

A few days later he understandably looked more emotional when he saw first-hand at Marlborough House the hundreds of cards, flowers, letters and pictures left by the public wanting to honour his father.

Personal, funny and revealing tributes were paid by the duke’s children and grandchildren who knew him best, and saw a side of the duke only glimpsed at by the outside world.

The Duke of Sussex summed up his “grandpa” as “master of the barbecue, legend of banter, and cheeky right till the end” while the Duke of Cambridge pledged to uphold his wishes and continue to support the Queen and “get on with the job”.

Unseen photographs were released showing Philip sat on a sofa with the Queen at Balmoral surrounded by their great-grandchildren, having a bite to eat with his family with a beer at hand, or in the Scottish Highlands relaxing with his wife.

Philip’s death has come at a time of upheaval for the royal family with the Duke and Duchess of Sussex making accusations of racism and a lack of support against their family in their bombshell Oprah Winfrey interview.

A photo taken at Balmoral in 2018 of the duke and Queen with their great-grandchildren
A photo taken at Balmoral in 2018 of the duke and Queen with their great-grandchildren (The Duchess of Cambridge/PA)

Harry also spoke about a rift with his brother William and father Charles, and this week the funeral plans revealed he would not walk shoulder to shoulder with his sibling in the funeral procession or sit together inside the chapel.

In an unexpected move it was announced military uniforms would not be worn but morning coat with medals or day dresses.

It meant Harry – who lost his honorary military titles after stepping down as senior royals – would not look out of place and it put an end to reports the Duke of York was considering wearing an admiral’s uniform.

Andrew was due to be promoted to admiral in 2020 to mark his 60th birthday, but after the fallout from his friendship with convicted sex offender Jeffrey Epstein he did not receive the honour.