Millions of people have paid their respects as the late Queen Elizabeth II was farewelled in lavish scenes at Westminster Abbey overnight.

In an unprecedented gathering of world leaders, some 500 heads of state and dignitaries, representing 200 countries, attended her funeral.

It was a meticulously orchestrated event, largely planned by none other than the late Queen herself.

Today on Please Explain, senior writer Bianca Hall is joined by Europe correspondent Rob Harris, who was the only Australian journalist allowed into Windsor Castle and, later, by associate editor and special writer Tony Wright.

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