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Charles has spent his lifetime preparing for and dreading this day.

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Newspapers and news sites all over the world are honouring Queen Elizabeth II following the news of her passing.

King Charles III has paid a touching tribute to his mother, echoed her pledge of lifelong service and spoken proudly of his sons in his first address to the nation as monarch.

Speaking in a pre-recorded message aired just under 24 hours after the death of his "darling Mama" was made public, Charles began by sharing his profound sorrow and immense gratitude for Queen Elizabeth II.

A gratitude he said would be felt alongside grief throughout the United Kingdom and the Commonwealth.

LIVE UPDATES: King Charles III delivers first speech since the death of the Queen

"Throughout her life, Her Majesty the Queen, my beloved mother, was an inspiration, an example to me and to all my family

"And we owe her the most heartfelt debt any family could to their mother, for her love, affection, guidance, understanding and example."

He harked back to the Queen's famous declaration of lifelong service, made at just 21 and widely considered by many who spoke since her death to have been well and truly fulfilled.

Sitting solemnly next to a picture of the Queen, mirroring her last Christmas message delivered next to a picture of her fallen husband, Prince Philip, Charles renewed that pledge in his name.

EXPLAINER: What happens next? Historic day for Britain as King Charles III succeeds to the throne

"As the Queen herself did with such unswerving devotion, I too now solemnly pledge myself throughout the remaining time God grants me to uphold the constitutional principles at the heart of our nation," he said.

"And wherever you may live in the United Kingdom, or in the realms and territories, across the world, and whatever may be your background or beliefs I shall endeavour to serve you with loyalty, respect, and love, as I have throughout my life."

READ MORE: When to expect the coronation of the new king

The King said he was proud to crown his son William as the Prince of Wales, along with his succession as the Duke of Cornwall, titles both inherited from Charles.

"With Catherine beside him, our new Prince and Princess of Wales will, I know, continue to inspire and lead our national conversations, helping to bring the marginal to the centre ground, where vital help can be given," he said.

The King also expressed his love for Prince Harry and Meghan, the Duchess of Sussex, in their life overseas.

READ MORE: King Charles III greets crowds at Buckingham Palace with Queen Consort

He ended his message with a touching tribute to the Queen.

"To my darling Mama, as you begin your last great journey to join my dear Papa, I want simply to say this," he said.

"Thank you. Thank you for your love and devotion to our family and to the family of nations.

"You have served so diligently all these years. May flights of angels sing thee to thy rest."

King Charles III and Camilla, Queen Consort, have been greeted by a rapturous crowd outside the gates of Buckingham Palace on their return to London following the death of Queen Elizabeth II.

A loud shout of "God save the King" erupted as the couple arrived at the palace they will now call home, and Charles began warmly greeting the waiting masses.

There were smiles, handshakes and even a few kisses as the new monarch met some of his subjects for the first time as King, before entering the palace for the first time in his new role.

READ MORE: Details of period of mourning announced

In one way, it was simply a grieving man returning home, but royal commentators said the moment signified much more.

BBC home editor Mark Easton said one of the King's security guards followed him closely, telling the waiting masses to put their phones down and "enjoy the moment".

"This was a huge moment — don't forget that — because this was the first time that the new King met his people on that line outside Buckingham Palace," he said.

"Interesting that he drove to the gates of the palace, but didn't drive in. He stopped. 

"His first first job that he felt as soon as he got to what will now be his home at Buckingham Palace was to leave the car and go and meet his people. 

"And he met them in a very direct way. As you were saying he was kissed on the hand. He was kissed on the cheek by one woman. His hands were grabbed."

The new monarch and his wife had taken off about 12.30pm on Friday (9.30pm AEST) from Aberdeen International Airport in Scotland, where they had travelled to be with the Queen at her Balmoral home before her death.

The King later held his first meeting with Prime Minister Liz Truss, just a few days after his mother had welcomed the new Tory leader into office.

On Saturday, September 10, Charles will officially succeed to the throne in front of the Accession Council, although he already became King immediately upon his mother's death.

As per tradition dating back to the 15th century, the garter king of arms, who is responsible for governing royal heraldry in England, Wales and Northern Ireland, will step out onto the balcony at St James's Palace and officially proclaim Charles as the new King.

A 41-gun salute at London's Hyde Park will follow.

Charles is due to address the UK at 6pm tonight (3am AEST).

St Paul's Cathedral in London will hold an evening service to mark the Queen's death at 6pm local time, which will be open to the public. Members of the royal family will not attend.

In the days that follow, the new King will attend a joint session involving both houses of the British Parliament and embark on a tour of the UK, visiting Scotland, Northern Ireland and Wales.

The King's coronation will not occur for weeks, if not months. The Anglican religious service, presided over by the Archbishop of Canterbury is the symbolic ascension of the heir to the throne.

Queen Elizabeth II and her husband Prince Philip enjoyed a lasting relationship for more 70 years, a union that far outlasted the marriages of three of her four children: Charles, Anne and Andrew.

"He has been quite simply my strength and stay all these years," the Queen said on their 50th wedding anniversary.

The pair, who were third cousins, met when Elizabeth was 13, and it's said she instantly fell head over heels for Philip in 1939.

READ MORE: The life and achievements of Queen Elizabeth II

The handsome 18-year-old naval cadet was detailed to entertain Elizabeth for a day.

Phillip serving the Royal Naval College in Dartmouth and during the war, the two exchanged letters.

The couple married in Westminster Abbey in 1947.

Together they took their royal duties across the Commonwealth including, a visit to Kenya on their way to Australia and New Zealand.

Though they were very much in love, they couldn't have anticipated what was to come when Elizabeth would become Queen.

READ MORE: Australians can expect 'shock to system' from new King

Following the death of King George VI, her Majesty took the crown in 1952.

Although their relationship was professional and about service, it was also about love.

When Philip died in 2021 at the age 99, Elizabeth described his passing as leaving a "huge void" in her life, according to their son, Andrew.

"The Queen as you would expect is an incredibly stoic person and she described his passing as a miracle and she is contemplating, I think that's the way I would put it," Andrews previously told reporters.

READ MORE: Prince Harry and Prince William reunited in grief at Prince Philip's funeral

"She described it as having left a huge void in her life, but we, the family, the ones that are closer, are rallying around to make sure that we're there to support her."

As they were in life, Queen Elizabeth II and Prince Philip are now together in death.

Following her funeral, the date of which is yet to be announced, Her Majesty will be buried in the King George VI Memorial Chapel at St George's Chapel in Windsor.

With Associated Press