The two-hour coronation service is being led by the archbishop of Canterbury, Justin Welby, who has participated in royal weddings, funerals and christenings.

Per tradition, Welby authorized a new liturgy for Charles’ and Camilla’s coronation, which focuses on loving service to others.

All three of William and Kate’s children are attending the coronation service. Charlotte, 8, and Louis, 5, are seated with their parents inside Westminster Abbey.

Their older brother, George, second in line to the throne, is serving as a Page of Honour for Charles in the service.

While the coronation is a global event, it is also a family affair.

All eyes will be not just on Charles but also his sons William and Harry, who have faced ongoing tensions. Harry, who now lives in California, is attending the coronation without his wife or children.

Camilla's family is also front-and-center at the service, an unlikely position for her normally private children Tom Parker Bowles and Laura Lopes.

Three of Camilla's grandsons are serving as her pages, while George is serving as a page for Charles.

The coronation of Charles and Camilla marks the first time in British history that a divorced man and divorced woman have been crowned alongside each other, according to ABC News royal contributor Victoria Murphy.

Charles and Camilla are each wearing a Robe of State as they enter Westminster Abbey.

Charles’ robe was worn by his grandfather King George VI at his coronation in 1937.

Camilla’s robe was originally made for Queen Elizabeth II’s coronation in 1953.