A memorial service is being held for Prince at his Paisley Park estate in Chanhassen, Minnesota, today (April 24).

State troopers were gathered at the complex and helped escort family and friends inside as they began to pay their respects to the late singer.

The news comes just one day after Prince's body was released to his family following an autopsy. 

Carver Country Sheriff Jim Olson held a press conference after the autopsy. 

According to Olson, Prince was last seen by an acquaintance who had dropped him off at his Paisley Park residence around 8 p.m. on Wednesday (April 20). Staff were unable to reach him on Thursday (April 21), so they went to find him and saw that he was in a lift on the first floor and was unresponsive.

Prince's UK publicist has confirmed that the star has already been cremated.

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Watch Prince perform and tributes to him below: