Her Majesty the Queen has given permission for PC Palmer's body to lie in rest after he was fatally stabbed as he guarded the gates of Parliament during the horrific attack on March 22.
Khalid Masood mounted the northern pavement of Westminster Bridge in his car and he was shot dead just over a minute later.
During the attack, Masood crashed into the perimeter fence of the Palace of Westminster and stabbed a uniformed officer – PC Keith Palmer – to death in the grounds.
PC Palmer's coffin will be brought to the Palace and to the Chapel of St Mary Undercroft by the Metropolitan Police's special escort group at around 2pm on Sunday (April 9).
PC Palmer will be greeted by a guard of honour, formed by officers from his team at the Parliamentary and Diplomatic Protection Command (PaDP).
A Met Police spokesman said: "A private service will be held, attended by close members of Keith's family.
"The service will be led by Reverend Prebendary Rose Hudson-Wilkin, chaplain to the Speaker of the House of Commons and Reverend Prebendary Jonathan Osborne, senior chaplain to the Metropolitan Police Service."
Following this service, officers from PaDP will form a catafalque honour guard to watch over PC Palmer's coffin.
This will remain in place throughout the night and will be made up of two officers at a time, remaining in place for an hour.
Rev. Prebendary Hudson-Wilkin will also remain with PC Palmer throughout the night.
Shortly before 1.30pm on Monday (April 10) PC Palmer will be taken from the Palace of Westminster and will travel to Southwark Cathedral for a full police service funeral.
PC Palmer, a father and husband, was a member of the Parliamentary and Diplomatic Protection Squad, with 15 years service.
His family released a tribute saying: "We have been overwhelmed by the love and support of our family, and most especially, the outpouring of love and respect for Keith.
"We want to thank everyone who has reached out to us over the past few days for their kindness and generosity.
"The police have been a constant, unwavering support at this very difficult time. It has made us realise what a caring, strong and supportive family Keith was part of during his career with the police.
"We can't thank them enough."