Thousands are expected to follow the royal entourage’s route through the Scottish countryside and the cities of Aberdeen and Dundee.
Buckingham Palace said the hearse would travel to the Scottish capital “in a way that people will witness to Holyrood Palace”.
The Queen’s coffin is adorned with the Royal Scottish flag and garland.
It has been resting in the ballroom at Balmoral Castle, where estate staff can pay their last respects, a senior palace official said.
At 10am local time (5am ET), the coffin left Balmoral for a six-hour journey across Scotland to the official residence of the British royal family in Scotland.
It’s running through the village of Ballater, then past Aberdeen and Dundee, then down the Royal Mile in Edinburgh.
The coffin will then arrive in the forecourt of the Palace of Holyroodhouse and be taken to rest in the Throne Room. Regional announcements will be held at Cardiff Castle in Wales, Hillsborough Castle and Edinburgh Castle in Northern Ireland.
On Monday, the coffin will be paraded from the palace to St Giles’ Cathedral, where it will rest until Tuesday.
The coffin will then be moved from Edinburgh to Buckingham Palace in London.
On Wednesday, the coffin will again be moved from Buckingham Palace to Westminster Hall for the Sabbath, the morning of the state funeral.
On the morning of September 19 – a public holiday across the UK – the Queen’s state-borne illness will end. The coffin will then be paraded again to Westminster Abbey for a state funeral.
After the funeral, the coffins will again be paraded from Westminster Abbey to Wellington Arch. From there, it will head to Windsor. Once in Windsor, the hearse will head to St George’s Chapel in Windsor Castle for a delivery service.