Duchess of Kent's coffin leaves Kensington Palace

The Duchess of Kent’s coffin has left Kensington Palace on Monday, beginning two days of solemn ceremonies that will conclude with a historic Catholic funeral on September 16.

King Charles and Queen Camilla will join Prince Edward, Duke of Kent and members of Katharine's family for the Requiem Mass on Tuesday. The traditional prayers were attended by members of the Duchess’s immediate family.

A Royal Hearse carried Katharine’s coffin to Westminster Cathedral, where a private Vigil for the Deceased is taking place with a Rite of Reception and Vespers for the Dead.

The service will be conducted by the Cardinal Archbishop of Westminster, Cardinal Vincent Nichols, with participation from Bishop James Curry, Auxiliary Bishop of Westminster, and the Dean of Windsor.

The coffin will rest overnight in the Chapel of the Blessed Virgin Mary inside Westminster Cathedral.

The 76-year-old monarch, as Supreme Governor of the Church of England, will attend the Catholic ceremony, a striking first in modern royal history and a reflection of the Duchess’s deep faith.

Following the Mass, Katharine’s coffin will be taken by hearse to the Royal Burial Ground at Frogmore, Windsor, where she will be laid to rest.

The burial ground is the final resting place of many senior members of the Royal Family.

The Duchess of Kent, who converted to Catholicism in 1994, devoted decades of her life to public service and charitable work.

Related: Prince William, Kate Middleton heartbroken on Duchess of Kent's death