The Duke of Edinburgh’s four children will walk alongside his coffin at his funeral on Saturday.
Princes Charles, Andrew, Edward and Princess Anne, as well as grandsons Princes William and Harry, will follow a Land Rover hearse in a procession to St George’s Chapel, Windsor.
The guest list for the service includes 30 people, with three German relatives.
Those attending will wear morning coats with medals, or day dress, but not military uniform.
The congregation will put on masks and socially distance in line with Covid lockdown rules, with the Queen seated alone.
The details of Prince Philip’s ceremonial royal funeral at the chapel in the grounds of Windsor Castle at 15:00 BST were released by Buckingham Palace.
A Palace spokesman said the plans have been modified to take into account current public health guidelines, but the ceremonial aspects of the day and the service remain in line with the duke’s wishes.
He said the service will be a reflection of Prince Philip’s military affiliations and personal elements of his life.
The other guests include the Duchess of Cornwall and the Duchess of Cambridge, all of the duke’s grandchildren and their spouses, the children of the Queen’s sister Princess Margaret, and Bernhard, the Hereditary Prince of Baden; Donatus, Prince and Landgrave of Hesse; and Prince Philipp of Hohenlohe-Langenburg.
The Countess Mountbatten of Burma, previously known as Lady Romsey and later Lady Brabourne, who was Philip’s carriage driving partner and one of his closest friends will also be in attendance.
The 67-year-old countess is the wife of Earl Mountbatten, Norton Knatchbull – the grandson of Prince Philip’s uncle the 1st Earl Mountbatten, who was killed by the IRA in 1979.
Buckingham Palace said the Queen faced “some very difficult” decisions in selecting the guests permitted under Covid rules, from original plans for a 800-strong congregation, adding she wanted all branches of her husband’s family to be represented.
By Daniela Relph, royal correspondent
This is the funeral the Duke of Edinburgh wanted for himself.
The guests, the music, the military representation are exactly what the duke requested for his own farewell. The one element he perhaps didn’t account for was the family tension.
The Queen has decided that there will be no military uniforms worn by members of the Royal Family on Saturday.
This neatly avoids the Prince Harry and Prince Andrew problem. Both have stepped back from their military patronages and the issue of them wearing uniform was a dilemma that has now gone away.
The order of the funeral procession has revealed that the duke’s grandsons, Prince William and Prince Harry, will not walk alongside one another. Instead, their cousin Peter Philips will walk between them.
Buckingham Palace won’t comment on this decision. Responding to questions from reporters, a spokesman said they would not be drawn into discussing “perceptions of drama”.
Of the tributes paid to Prince Philip over recent days, Buckingham Palace said the Queen and the family had been touched at the testimony around “the remarkable life and lasting endeavours of the Duke of Edinburgh”.