Around 2,200 people, including the Royal Family, celebrities and faith leaders, watched on from inside Westminster Abbey for the first such ceremony in 70 years.
Charles and senior members of his family then made their way to the Buckingham Palace balcony for a flypast from the Red Arrows.
Amid all the pomp and ceremony inside the abbey, on the streets of London anti-royalists expressed their disapproval. A small number of protesters were arrested and there were reports of rival demonstrators clashing in central London. Human rights groups have criticised the heavy-handed response.
The Metropolitan Police said a total of 52 arrests had been made for affray, public order offences, breach of the peace and conspiracy to cause a public nuisance around the coronation
Yahoo held a live Q&A below to mark the historic occasion. Read below for a full recap of how the day unfolded and all the answers to your burning questions.