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More than 2,000 well-wishers lined the streets in Carterton in Oxfordshire as a convoy of hearses paused at the memorial garden near RAF Brize Norton.
The bodies of Corporal Jake Hartley, 20, Private Anthony Frampton, 20, Private Christopher Kershaw, 19, Private Daniel Wade, 20, Private Daniel Wilford, 21, and Sargeant Nigel Coupe, 33, were repatriated to RAF Brize Norton.
Wreaths were laid at the Memorial Garden in Carterton. It was built specially to give relatives a place to pay their respects.
The six were killed when their armoured vehicle was hit by an explosive device in Southern Afghanistan on March 6, 2012.
A private service to honour the comrades, who died while on patrol, was held at RAF Brize Norton in Oxfordshire, giving families time to say goodbye.
The family of Private Anthony Frampton (L) waves as his coffin leaves the Memorial Garden in Carterton
The family of Private Christopher Kershaw stand by his coffin as it leaves the Memorial Garden in Carterton.
Monica Kershaw, mother of Private Christopher Kershaw, holds his photograph.
A mourner is supported by a family member and a policeman as the cortege carrying the bodies of the six soldiers killed passes.
More than 2,000 well-wishers and fellow servicemen lined the streets in Carterton as a convoy of hearses bearing the men's coffins paused at a Memorial Garden near RAF Brize Norton.
A family friend of Private Anthony Frampton watches as his coffin leaves the Memorial Garden in Carterton
The soldiers' deaths two weeks ago takes the British armed forces' total number of deaths since operations began in Afghanistan to 404.
Mourners place red and white roses on the hearses at the Memorial Garden in Carterton.
Carterton Town Mayor Norman MacRae said: "Obviously it's a very sad day that six servicemen have lost their lives but within that it also has been a day for the community to come together to pay their respects to those that have fallen."
A respectful silence was maintained after the cortege came to a halt, but spontaneous applause for the soldiers' sacrifice broke out as the hearses drew away en-route to the mortuary at Oxford's John Radcliffe Hospital.
The tragedy represented the biggest single loss of life for British forces in Afghanistan since an RAF Nimrod crash killed 14 people in September 2006.