Queen Elizabeth II's coffin will be put on display in the Scottish capital of Edinburgh today for 24 hours, allowing the public to pay their respects to the late monarch.

King Charles III will start the day with a trip to Westminster Hall where both Houses of Parliament will express their condolences.

He and his wife Camilla, the Queen Consort, then fly to Edinburgh where they will head straight to the Palace of Holyroodhouse.

LIVE UPDATES: Surprise appearance from Queen's children

At 2.35pm (11.35pm AEST) the Queen's coffin will proceed to St Giles' Cathedral for a service of prayer and reflection attended by the King and Queen Consort and royal family members, as well as a congregation made up "from all areas of Scottish society", according to a senior palace official.

Afterwards, the coffin will rest there for 24 hours to allow the Scottish public to see it, in a tradition known as lying in state.

Following the service, the King will return to Holyrood where he will have an audience with Scottish First Minister Nicola Sturgeon, followed by a meeting with the presiding officer of the Scottish Parliament.

Charles, accompanied by Camilla, will later go to the Scottish Parliament to receive a motion of condolence.

That evening, at 7.20pm (4.20am Tuesday AEST), the King and members of the royal family will mount their own guard, or vigil, of the Queen's coffin.

READ MORE: What we know about plans for the Queen's funeral

Tomorrow, the King and Camilla will make a trip to Belfast, Northern Ireland.

The couple will visit Hillsborough Castle and view an exhibition on the Queen's long association with Northern Ireland.

The King will then meet the secretary of state for Northern Ireland in addition to other party leaders, and receive a message of condolence led by the speaker of the Northern Ireland Assembly.

Back in Scotland, the Queen's only daughter Princess Anne will prepare to accompany her mother's body as it is flown back to London.