TV personality Bear Grylls during the State Funeral of Queen Elizabeth II at Westminster Abbey on September 19, 2022 in London, England. (Photo by Tim Merry - WPA Pool/Getty Images)
The adventurer, 48, who was awarded an OBE in 2019, donned a black morning jacket and striped trousers for the touching ceremony at Westminister Abbey.
He was later spotted waving and smiling outide of the sombre event.
Posting on his Instagram story, Bear wrote: "Lovely to be with my sister Lara before the service... and special to see our cameraman on Running Wild @Mungothecameraman selected to film the entrance to the service.
"It was him that I was acknowledging when I waved. I’m so sorry if it looked cheery when it is such a solemn day. I didn’t mean that."
The Scouts Association, which Queen Elizabeth II was patron of, issued a statement ahead of their Chief Scout attending the funeral.
The Tweet said: “Chief Scout, @BearGryll, will represent Scouts at State Funeral today and pay final respects to our Patron, HM The Queen. Our thoughts are with the Royal Family."
In an Instagram post, the Chief Scout described it as a day he “will never forget”.
He wrote: “It’s a day we will never forget… a truly beautiful testament to our Nation’s Sovereign, Her Majesty Queen Elizabeth. Rest in Peace. Your duty done. Long Live King Charles…”
Bear, who had met the late monarch on numerous occasions, lead the tribute on the Scouts website.
He wrote: “As a family of Scouts, we are united in sorrow for the loss of our Patron, HM The Queen.
“She leaves a bright legacy of hope and promise for future generations. Together, we will honour her memory.”
He also included a quote from Her Majesty, which reads: “Scouting is a global force for good.
“In this country and around the world, Scouts are helping others and making the most of their lives.’
The pair were both in attendance at a special exhibition at Buckingham Palace which showed artefacts from the Artic, Antarctica and the Everest campaigns.
Queen Elizabeth and Prince Philip hosted the event in December 2011 to celebrate exploration and adventure.
Mountaineer Chris Bonnington and naturist David Attenborough were also in attendance, when The Queen made a comment about Bear Gryll’s Union Jack Flag shoes.
A few months later, they met again during the review of Queen’s Scouts at Windsor Castle in April 2012.
The Queen’s granddaughter-in-law Kate Middleton was also in attendance at the review, which saw the Scout Association honour hundreds of high achieving scouts from across the UK and Commonwealth.
Bear Grylls was also appointed a Officer of the Order of the British Empire (OBE) in Her Majestys 2019 Birthday Honours for his services to young people, the media and charity - another occasion he met the late monarch.