Lord Linley and Lady Sarah Chatto were among the principle mourners

Until it is her ashes will be placed in the Royal Vault, where George III, George IV and William IV are buried.

Members of the Royal Family, including the Queen Mother, paid their final respects to Princess Margaret at her funeral on Friday.

The private service at St George's Chapel was attended by about 450 of the princess's friends, family and staff.

The Queen Mother managed to be there despite her frail health, arriving at the chapel in a wheelchair through the north nave door that was not visible to the public.

Several thousand people gathered in the streets around Windsor Castle to pay their respects.

Thanks

The Queen, Duke of Edinburgh, the Prince of Wales and his sons William and Harry were among the principal mourners.

Others included Princess Margaret's children Lord Linley and Lady Sarah Chatto and their spouses, and her former husband Lord Snowdon.

In a statement released through Kensington Palace Margaret's children thanked members of the public for their "thoughtful" messages of condolence and their kindness.

They said: "These messages and floral tributes have meant a great deal, and they have been deeply appreciated."

Prince William and Prince Charles paid their respects

The princess's former landscape gardener boyfriend Roddy Llewellyn attended, as did celebrities including Dame Judy Dench, Bryan Forbes and his wife Nanette Newman, Dame Cleo Laine and Felicity Kendall.

The order of service, understood to have been chosen by Princess Margaret, began with Psalm 23: The Lord Is My Shepherd, sung by the choir.

The princess's son, Lord Linley, read the Lesson from Romans 8.

The service was conducted by the Dean of Windsor with the Archbishop of Canterbury.

The procession leaving the chapel was led by the head of the Queen's Household, Lord Chamberlain Lord Luce, the Verger and the Dean of Windsor who preceded the bearer party.

Stroke

Walking immediately behind the coffin were the principal mourners, Lord and Lady Linley, Lady Sarah and Daniel Chatto, followed by the Queen, Prince Philip, and other members of the Princess's family.

The Queen Mother did not join the royal procession as she could not negotiate the steep steps at the chapel's west door. Instead, she left through the north-east door.

The princess's body was taken to Slough Crematorium, eight miles away.

Princess Margaret died on Saturday at the age of 71, after suffering a stroke which led to heart problems.