The Duchess of Kent's grandchildren arrived at Westminster Cathedral, London, on Tuesday to attend the late royal's funeral.

Lady Amelia Windsor and her sister Lady Marina Windsor looked sombre as they mourned their beloved grandmother, who was one of the most popular royals of her generation.

Katharine - or Mrs Kent as she preferred to be called in her no-nonsense, down-to-earth Yorkshire way - passed away aged 92 on September 4 after a period of ill-health.

Buckingham Palace announced that she died 'peacefully' at Kensington Palace, surrounded by her loved ones.

Katharine, with her husband, Prince Edward, Duke of Kent, had three children: George Windsor, the Earl of St Andrews, Lady Helen Taylor and Lord Nicholas Windsor.

61-year-old Helen is mother to her four children with husband Timothy Taylor, Columbus Taylor, 31, Cassius Taylor, 28, otherwise known as the 'bad boy royal', Eloise Olivia Katherine Taylor, 22, and Estella Taylor, 20.

Meanwhile, Helen's younger brother Lord Nicholas Windsor, 55, is the father of two sons, Albert Windsor, 17, and Leopold Windsor, 15.

The oldest of Katharine's children, George Windsor, the Earl of St Andrews, has three children: Edward Windsor, 36, Lady Marina Charlotte Windsor, 32, and Lady Amelia Windsor, 30.

Lady Amelia Windsor and Lady Marina Windsor arrived at Westminster Cathedral ahead of the funeral

Yesterday, the Duchess of Kent's mourning grandchildren appeared solemn as they attended a vigil in honour of the late royal.

The Duchess's coffin was carried in a royal hearse, designed by Queen Elizabeth, from her home in Kensington to Westminster Cathedral for a private vigil with her immediate family.

Her coffin has rested in the private chapel at Kensington Palace since her passing to allow members of the family to pay their respects privately.

Her coffin was moved from the royal residence that had been her home by a lone Piper from The Royal Dragoon Guards, of which she had been Deputy Colonel-in-Chief since its inception in 1992.

Both Amelia and Marina were dressed in black for the vigil, as they paid their respects to their late grandmother.

Lord Nicholas was seen at the back of a minibus which was carrying her grandchildren and the Prince and Princess Michael of Kent. The Prince, 83, is the Duke of Kent's brother.

The Duke of Kent's sister, Princess Alexandra, 88, also arrived by taxi and in a wheelchair. The Duke of Kent is now the oldest living member of the Royal Family following the death of his wife.

After Katharine's passing, several of her grandchildren posted tributes on social media, with Lady Amelia sharing a vintage monochrome photograph of her grandmother, along with a red love heart.

The Duchess of Kent's grandchildren, Lady Eloise Taylor and Lady Estella Taylor, are seen arriving at the late royal's funeral

Duchess of Kent's grandchildren Columbus Taylor and his brother Cassius Taylor are seen at the funeral

(From L to R) Albert Windsor, Leopold Windsor, Louis Arthur Nicholas Felix Windsor and George Windsor Earl of St Andrews at the Duchess of Kent's funeral

Pictured: Lady Amelia Windsor at the Duchess of Kent's Catholic funeral service at Westminster Cathedral

30-year-old Lady Amelia Windsor looked solemn as she arrived at the London venue on Tuesday afternoon

Others, such as Lady Marina, shared several glamorous photographs of the late royal in her youth, including graceful snaps captured on her wedding day in 1961.

The 32-year-old, who is one of Katharine's ten grandchildren, wrote: 'Rest in peace my amazing and beloved Amama [grandmother], we will miss and love you so much always and thank you to everyone who has sent such kind and touching messages, sending lots of love to all.'

Other pictures including the Duchess dressed in a yellow ensemble, cuddling a koala bear, along with a more recent snap of her dressed in a more casual white shirt and jeans combination, standing in a doorway.

Lady Marina also shared an Instagram story that said: 'My amazing Amama, I love you always and forever and more than words could ever say.

'Thank you for everything, all the deep love, special friendship, giggles and hugs, I will miss you so much and you will always be in my heart.'

Katharine became the oldest living member of the Royal Family when Queen Elizabeth II died in September 2022.

The wife of the Duke of Kent, cousin of Queen Elizabeth and grandson of King George V was universally admired for her beauty and elegance.

However, she was equally renowned for her compassion and dignity, seeking permission from the late Queen to convert to Catholicism and give up full-time royal duties following a series of personal tragedies to work as a music teacher in a Hull primary school.

Lady Amelia arrived at the funeral today alongside her older sister, 32-year-old Lady Marina Windsor

The Prince and Princess of Wales are photographed arriving at the Requiem Mass in London today

The Prince and Princess of Wales arrived at Westminster Cathedral ahead of the funeral service today

Prince William put on a solemn display as he stepped out of the car at Westminster Cathedral on Tuesday

Lady Gabriella Windsor looked solemn as she arrived at the Requiem Mass for The Duchess of Kent

King Charles attended the Duchess of Kent's funeral without Queen Camilla, who is recovering from acute sinusitis

Prince Andrew and Sarah Ferguson are pictured arriving at Westminster Cathedral ahead of the funeral

Pictured: Princess Royal and Vice Admiral Sir Tim Laurence are seen arriving at the funeral today

She also founded a charity, Future Talent, to support some of the country's brightest but under-supported musical prodigies.

After leaving Kensington Palace on Monday, her coffin arrived at Westminster Cathedral for a series of private funeral rites.

Having travelled the three miles from the royal residence, the Royal Hearse arrived shortly before 5pm, the sun shining brightly as the Union flag flew at half mast.

Her coffin, covered in the royal standard, differentiated from other senior royals by its white border, was accompanied by members of her immediate family.

Service personnel from the Royal Dragoon Guards, a regiment the duchess supported as deputy Colonel-in-Chief since its inception in 1992, formed the bearer party.

Earlier that day, a lone piper from the same regiment led the Duchess of Kent's coffin as she left Kensington Palace for the final time.

The musician played as the coffin travelled the short distance from the royal residence to the main road, before the Royal Hearse made its way to Westminster Cathedral via police convoy.

Close friends and family started arriving at the cathedral some 20 minutes before the arrival of the coffin.

Pictured: The Duchess of Gloucester arriving for the Requiem Mass service for the Duchess of Kent

Prince Richard, Duke of Gloucester, attended the Duchess of Kent's funeral on Tuesday afternoon

Princess Michael of Kent dressed in all black at the Duchess of Kent's funeral at Westminster Cathedral today

Lord Frederick Windsor and his wife Sophie Winkleman attended the Duchess of Kent's funeral today

The Duke of Kent arrives for the Requiem Mass service for the Duchess of Kent, marking the first Catholic funeral service held for a member of the royal family in modern British history

Vice Admiral Sir Tim Laurence, 70, is seen at the Requiem Mass service for the Duchess of Kent

Sophie, Duchess of Edinburgh is seen arriving at the Requiem Mass service for Katharine, Duchess of Kent

Pictured: Prince and Princess Michael of Kent arriving for the Requiem Mass service for the Duchess of Kent

Prince Richard, Duke of Gloucester and Birgitte, Duchess of Gloucester, are seen before the funeral

Prince and Princess Michael of Kent arriving for the Requiem Mass service for the Duchess of Kent

Duke of York, Prince Andrew, Sarah Ferguson, Duchess of York, are seen arriving at the funeral today

The requiem mass, a Catholic funeral, took place 12 days after Katharine died peacefully at home, surrounded by her family.

The King and other senior royals attended today's requiem, marking the first Catholic funeral service held for a member of the royal family in modern British history.

The funeral rites on Monday evening included a Vigil for the Deceased, Rite of Reception, which usually involves the coffin being sprinkled with holy water, and evening prayers known as Vespers will be taken by Bishop James Curry, Auxiliary Bishop of Westminster and Titular Bishop of Ramsbury.

The sombre event is usually marked by prayers, music, hymns and tributes.

Katharine, wife of the late Queen's cousin the Duke of Kent, converted to Catholicism in 1994.

A devout follower of the Roman Catholic faith, the duchess became the first member of the royal family to convert to Catholicism in more than 300 years. Her husband did not convert, so he remained in the line of succession.

The Duchess of Kent is survived by Prince Edward, Duke of Kent, and their three children.

Lady Amelia leads Duchess of Kent's grandchildren at royal's funeral