The Duke of Edinburgh’s intellect, work ethic, sense of humour and devotion to his family were celebrated in an address by the Dean of Windsor.

Addressing the congregation in Westminster Abbey, The Right Reverend David Conner said: “He was practical, wanting to put flesh upon his dreams, and (acknowledging the limitations of living in this so-called ‘real world’) he devoted his astonishing intellectual and physical energy, his enormous capacity for sheer hard work, to a host of down-to-earth enterprises.

“These included the equipping of young people to face tomorrow’s challenges, the encouragement of respect and care for the natural order, and his pioneering work in facilitating conversation between representatives of the different world faiths.

“Through his passionate commitment, he drew others to himself in admiration and respect and, in the case of those who lived and worked most closely to him, genuine love.”

Mr Conner added: “He would hate to think that I should paint a picture of him as a ‘plaster saint’; someone without the usual human foibles and failings.

“He was far too self-aware ever to be taken in by flattery. Of course, it must be said that his life bore the marks of sacrifice and service.

“Certainly, he could show great sympathy and kindness. There is no doubt that he had a delightfully engaging, and often self-deprecating, sense of humour.

“It is quite clear that his mind held together both speculation and common sense. Moreover, nobody would ever doubt his loyalty and deep devotion to our Queen and to their family.

“Yet, there were times when he could be abrupt; maybe, in robust conversation, forgetting just how intimidating he could be.

“A kind of natural reserve sometimes made him seem a little distant. He could be somewhat sharp in pricking what he thought to be bubbles of pomposity or sycophancy.

“On the other hand, we should not forget that he himself was sometimes wounded by being unfairly criticised or misunderstood.”

Concluding his address, the dean said: “As we give thanks for the life of a remarkable man, perhaps our greatest tribute to him, most especially in these far too troubled times, will be for us to accept the challenge, implicit in his life, to rekindle in our hearts something of that call, and to pray (as I think he did) for the inspiration and the guidance to play our part, however small, in working for a kinder future.”

As we remember Prince Philip’s life, we remember some of the best things he’s ever said throughout his 99 years of life:

Senior members of the royal family sit in the front row of the congregation at the memorial for the Duke of Edinburgh. The Queen, as well as the Prince of Wales and the Duchess of Cornwall are wearing emerald green, while many others in the congregation have donned royal blue for the event.

And here are photographs of other members of the royal family as they arrived ahead of the service:

Here’s a glimpse at Her Majesty arriving at Westminster Abbey. Prince Andrew can be seen sitting beside her inside the vehicle:

The Duke of York has walked the Queen down the aisle to her seat in Westminster Abbey, before taking a seat himself in the front row of the congregation.

This marks his first public appearance since he came to a settlement with Virginia Giuffre over a high-profile sex abuse case.

Olivia Petter reports:

The Queen has arrived at the service in Westminster Abbey, accompanied by the Duke of York.

Olivia Petter has the breaking story:

Fanfare has begun to mark the arrival of Queen Elizabeth II.

Once inside Westminster Abbey, guests were escorted to their seats, with Princesses Beatrice and Eugenie and their husbands smiling at members of the Abbey’s chapter, or governing body, standing by the great West Door, as they walked in.

The Earl and Countess of Wessex and their children also smiled warmly at the welcoming clergy.

The Duke and Duchess of Cambridge have arrived at Westminster Abbey with their children Prince George and Princess Charlotte.

The Prince of Wales and the Duchess of Cornwall have arrived at Westminster Abbey, the first senior members of the royal family to make an appearance at the memorial. Princess Anne has also arrived.

Earlier, Princess Anne’s daughter, Zara Tindall, and husband Mike Tindall arrived at the abbey.