The Queen will lie in state for four days before her funeral at Westminster Abbey on Monday, 19 September.
The public will be allowed to view the coffin during that time.
Her family, politicians and world leaders will attend her state funeral at 11:00 BST. It will be a bank holiday.
The Queen's final journey will begin on Sunday, with her oak coffin being carried by her Balmoral gamekeepers - her own staff bringing her to a hearse that will take her to Edinburgh.
It will drive slowly to the Palace of Holyroodhouse for 16:00 BST.
On Monday afternoon, it will process to St Giles' Cathedral, with members of the Royal Family. There will be a service and the coffin will rest here for 24 hours, for people to pay their respects.
The following day, Princess Anne will accompany her mother's body as it is flown back to London. The Queen's coffin will be taken from Edinburgh Airport to Buckingham Palace via RAF Northolt.
Monday 19th's state funeral will be followed by a procession from London to Windsor Castle. The Queen will be laid to rest at King George VI Memorial Chapel at Windsor.