Today marks exactly two years since Queen Elizabeth II passed away peacefully at the age of 96 - and her eldest son ascended the throne.

Reflecting on the historic day, author Robert Hardman has shared intimate details about September 8, 2022 in his book, Charles III New King. New Court. The Inside Story.

"Schoolchildren are taught that the longest reign in British history began at a Kenyan watering hole; that Princess Elizabeth was watching wildlife from the branches of a giant fig tree when King George VI died in his sleep on 6 February 1952l that his dutiful daughter, having climbed up as a Princess, climbed down as Queen.

"History will record that, seven decades later, on the afternoon of 8 September 2022, her son and heir was on an unmarked Scottish country road, at the wheel of his car, when he was first addressed as 'Your Majesty'."

Reflecting on the moment at the start of the now-King's reign, he added: "He had been to visit the Queen at Balmoral Castle earlier in the day and had then spent a few hours at his nearby home, Birkhall, before returning to the castle.In the manner of his late mother, he had climbed into the car as both Prince of Wales and Duke of Rothesay (his title when in Scotland). Twenty minutes later, he would climb out of it as King Charles II - with the new Queen at his side."

As reported by the Mail, the late Queen's health took a turn for the worse on the morning of September 7, 2022.

Despite her ailing health, she wished to appear at that evening's Privy Council meeting over video - although provisions were put in place so she could be audio-only.

However, shortly before the meeting was due to take place, the Queen cancelled on the grounds of "medical advice". This is what was reported at the time.

The publication reported, Penny Mordaunt - who had been appointed as Lord President of the Council - said: "For me, that was testament to the depth of [the Queen's] devotion to her duty and us: the day before she passed, she was still trying to fulfil her ­obligations as sovereign, which I find incredible."

Around 9.30am on September 8, Charles was taken to Balmoral by helicopter with Camilla after receiving an urgent call from Princess Anne.

A statement was released to the public around 12.32pm, which read: "The Queen's doctors are concerned for Her Majesty's health and have recommended she remain under medical ­supervision. The Queen remains comfortable and at Balmoral."

The Mail reports that Princess Anne and the Queen's personal assistant, Angela Kelly had taken it in turns to sit with the late Queen. Then, at around 3pm, Dr Glass was asked to quickly get to the Queen's side. Anne then contacted Charles and told him to return.

The author then stated how, when Dr Glass arrived at 3.25pm, the late Queen appeared to have stopped breathing. Her agreed time of death was later recorded as 3.10pm.