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The UK has officially left the European Union after 47 years of membership - and more than three years after it voted to do so in a referendum.

Speaking from Parliament Square the Brexit Party's Nigel Farage tells Emily Maitlis, "we've won the war, now we have to win the peace."

The moment the UK left the EU - 23:00 GMT on 31 January 2020 - was marked by both celebrations and anti-Brexit protests.

Candlelit vigils were held in Scotland, which voted to stay in the EU, while Brexiteers partied in London's Parliament Square.

Boris Johnson has vowed to bring the country together and "take us forward".