King Charles III complained that ‘we can never be on time’ as he waited in the Diamond Jubilee State Coach ahead of his Coronation, lip readers claimed today.

The monarch was caught on camera speaking to Queen Camilla inside the coach after they arrived five minutes early at Westminster Abbey and ended up waiting in their coach outside.

Prince William, his wife Kate Middleton and children Princess Charlotte and Prince Louis were said to have been late and ended up having to join the King’s procession through the church because they were unable to overtake to get ahead of him.

Lip reader Jeremy Freeman has since analysed a video of the King waiting in the coach outside in the rain. The expert claimed to the Daily Star that he thought Charles said: ‘We can never be on time. There’s always something…’

A second lip reader, Jacqui Press, also studied footage of Charles earlier on during the carriage procession and told MailOnline that she believed he said: ‘I’m worried about time, I mean it’s been longer this time and, well, erm, I mean look! I know.’

A lipreader told Sky News Charles said: ‘We can never be on time. Yes, I’m… this is a negative. There’s always something’.

A video released by the Prince and Princess of Wales on Instagram last night showed the family looking excited as they left their home and got into the car on the way to Westminster Abbey.   

It follows claims that William and Kate arrived late, prompting a change to the planned order of service before the King had even stepped out of his carriage.

The Prince and Princess of Wales were supposed to arrive and be seated before Charles and Camilla, according to the Coronation’s official order of service.

Instead, they arrived after Charles, meaning the King first had to wait in his carriage before he finally walked into the Abbey ahead of his eldest son.

Most of the 2,300 guests – including world leaders, royal dignitaries, celebrities and everyday heroes – had already taken their seats inside the church two hours before the ceremony began.

The order of service said: ‘Their Royal Highnesses The Prince and Princess of Wales, Princess Charlotte of Wales and Prince Louis of Wales arrive at the Great West Door and are conducted to their seats in the Lantern. All remain seated. Their Majesties The King and The Queen arrive at the West Gate. A fanfare is sounded. All stand.’

Instead, William and Kate stood behind the King and took their seats as he was already walking into the church. 

Following the historic occasion, a member of the clergy admitted there were ‘one or two’ hiccups during the King’s coronation service.

Speaking outside St Margaret’s Church next to Westminster Abbey, the Bishop of Chelmsford, Dr Guli Francis-Dehqani, 56, said: ‘There were one or two things that didn’t go strictly to plan.’

Pushed for details, the bishop said: ‘I’m not going to embarrass anyone in particular.’

Today Buckingham Palace issued the first public statement on behalf of Charles and Camilla since they were crowned.

A Palace spokesman said the King and Queen were ‘deeply touched’ by the nation’s celebration of their historic Coronation, as up to two million people turned out on the streets of central London to mark the occasion – which was watched by millions more about the globe. 

‘Their Majesties were deeply touched by the events of yesterday and profoundly grateful both to all those who helped to make it such a glorious occasion – and to the very many who turned out to show their support in such numbers in London and further afield,’ he said.

Heir to the throne William is to take to the stage to deliver a speech during the musical extravaganza in the grounds of Windsor Castle.

The King, Queen and royal family will join around 20,000 members of the public at the musical extravaganza to see performances by Take That, Katy Perry and Lionel Richie.

With hours to go before the star-studded concert, William and Kate greeted Big Lunch attendees in an unannounced walkabout for around 40 minutes on The Long Walk in Windsor.

To show their appreciation, William and Kate greeted crowds, shaking hands and chatting to revellers in some welcome sunshine after a rainy Coronation day. 

During the surprise walkabout, Kate wore a light blue blazer paired with a white top, black trousers and white Vega trainers.

Onlookers joked about her white shoes and warned her about the mud in Windsor.

In one adorable moment, a little girl burst into tears when she met the princess as she was so overwhelmed.

Kate saw the little girl sobbing and appeared to say: ‘Do you want a hug?’, to which the child, who was wearing a headband, gave an unequivocal: ‘Yes!’

The princess, who had crouched down to speak to her, continued chatting to the girl, who nodded her head and gave a small shrug as Kate patted her back. William also had a chat with her.

The heir to the throne was also asked about how his father is today. He replied: ‘I think his neck hurt last night, having the crown…it does weigh a hell of a lot.’

Kate was also seen picking up an Union flag for a child who dropped it.

Both of the royals posed for pictures with onlookers and stopped to talk to groups.

The crowds gave three cheers to the couple and many people crowded round to try to get a selfie with the pair – but security had to intervene when one over-zealous fan grabbed her hair.

The princess was also heard telling well-wishers ‘I hope you had a good time as well’ when they complimented her about how beautiful she looked at the coronation.

William was heard jokingly asking crowds if they had brought bottles of alcohol with them to celebrate.

A well-wisher handed the prince a can of ‘Return of the King’, a specially brewed organic ‘Coronation ale’. He looked absolutely thrilled, and Kate smiled as her husband told the well-wisher he’d save it for later. 

Both royals told crowds how happy they were that the sun had come out for the celebrations at Windsor Castle.

One royal fan told Kate: ‘Can I just say you looked absolutely beautiful yesterday. Absolutely stunning.’ The princess thanked them for their compliments and posed for photos.

William was heard asking children who performed in shows at Windsor how it went while Kate asked them what songs they played.

The princess also complimented children on their Union Jack face paint.

Well-wishers told the pair they had ‘done brilliantly’ at the coronation.

William was later heard telling a crying baby he needed to be ‘very happy today’ as he spoke to her aunt who had run over to see the future King.