Prince George (9) and Princess Charlotte (7) join royal family procession at Queen Elizabeth’s funeral

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Prince George and Princess Charlotte, along with their parents, honored their great-grandmother Queen Elizabeth on Monday at the late monarch’s state funeral.

George (9) and Charlotte (7) took part in the royal family procession behind the Queen’s coffin alongside Prince William and Kate Middleton as the family walked down the aisle of Westminster Abbey. Kate, 40, accompanied the little ones in the service, although William, 40, arrived earlier with King Charles III.

Kate Middleton arrives with Prince George and Princess Charlotte at the Queen’s funeral at Westminster Abbey

Prince George, Kate Middleton, Princess Charlotte and Meghan Markle

William and Kate thought carefully about whether or not to include their eldest two children in the procession and service last week, PEOPLE understands. With the eyes of the world on them, their parents kept in mind that George and Charlotte were at Westminster Abbey in March for Prince Philip’s memorial service.

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George and Charlotte are several years younger than William when he attended the funeral of his mother Princess Diana in 1997 at the age of 15. Prince Louis, 4, was thought likely too young to join the rest of the family for Monday’s funeral.

Kate Middleton Meghan Markle

Kate Middleton Meghan Markle

TBEN Royal family procession

William revealed that the ceremonial procession of Queen Elizabeth’s casket from Buckingham Palace to Westminster Hall last week reminded him of the same ritual following his mother’s death.

“He said how hard it was yesterday and how it reminded him of his mother’s funeral,” said grieving Jane Wells. The Telegraph reported. “Catherine said it’s been such a difficult time for all of them, for the whole family.”

Last week, Charles, 73, addressed the UK for the first time after the Queen died at the age of 96. Among the changes announced, Charles announced that Prince William and Kate, both 40, will have the titles of Prince and Princess of Wales.

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Kate Middleton

Kate Middleton

PHIL NOBLE/POOL/TBEN via Getty Prince George, Princess Charlotte and Kate Middleton

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Their three children – who are now second, third and fourth in line to the throne – go from Princes and Princess of Cambridge to Princes and Princess of Wales. That is why they are now Prince George of Wales, Princess Charlotte of Wales and Prince Louis of Wales.

During a 40-minute stroll outside Windsor Castle on September 10, the new Prince of Wales opened up to a benefactor in the crowd about his family. Elaine Gee, 58, a teacher from Wokingham, spoke to William about the difficulty of explaining the Queen’s death to her primary school students.

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Prince William Kate Middleton

Prince William Kate Middleton

TBEN Prince William, Prince George and Kate Middleton

“I told him how I work in a school and how it’s been a strange year celebrating the anniversary and now it’s all changed and we’re talking about this,” Gee told PEOPLE. “He talked about George, Charlotte and Louis and said they were trying to maintain some continuity for them in school and keep things as normal as possible.”

Kate Middleton

Kate Middleton

Samir Hussein/WireImage Kate Middleton, Princess Charlotte and Prince George

Prince George, Princess Charlotte and Prince Louis were photographed attending a preview day at their new school, Lambrook, just a day before the Queen’s death.

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Kate told another benefactor outside Windsor Castle that Prince Louis had a sweet reaction to the news of Queen Elizabeth’s death, saying, “At least Grandma is now with great-grandfather,” Kate said. The Sunday Timesroyals editor Roya Nikkhah.