Ahead of the committal service, the Queen's casket was transferred from a wagon to a hearse so it could be driven to Windsor.
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During the transfer, Charlotte and George were whispering to each other, with the elder leaning down to hear his sister.
In a video shared by Entertainment Tonight, the princess seems to be telling the future king to bow to the late Queen.
It wasn't clear in the video when exactly Charlotte was telling George he should bow, though shortly after he was seen bowing to the Queen's casket as it arrived at Windsor.
Charlotte curtsied to the casket at the same moment, alongside her step-grandmother, Camilla, the Queen Consort; her mother, Kate Middleton; and her aunt, Meghan Markle, according to a video shared by People.
Following the Queen's death, George and Charlotte became second and third in line for the throne, respectively.
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Their younger brother Louis, 4, is fourth in line. He did not attend the Queen's funeral events.
Charlotte paid tribute to the Queen at the funeral with a horseshoe-shaped brooch, which was gifted to her by her great-grandmother before her death.
Her ensemble looked like a miniature version of her mother's, and George also matched Prince William's military uniform with a navy suit.
The Queen died at 96 years old after 70 years on the British throne.
Representatives for the Prince and Princess of Wales did not immediately respond to Insider's request for comment.
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