2.30pmWestminster Bridge
Khalid Masood, 52, drives a grey Hyundai i40 across Westminster Bridge, hitting pedestrians along the way.
Two people are killed, while dozens of others are seriously injured. Among them are a group of French schoolchildren.
One woman falls off the bridge and into the River Thames. She is later rescued and given treatment at a nearby pier.
Witness Richard Tice, who was exiting Westminster tube station, said: "I was ushered onto Westminster Bridge and looked onto the west pavement of the bridge and literally north to south I must have counted 8-10 prostrate figures on the ground."
2.30pmOutside Parliament
Masood speeds off in the car and crashes into railings outside Parliament.
Armed with two knives, he gets out of the vehicle and enters the grounds of the Palace of Westminster, where he stabs PC Keith Palmer.
The knifeman is then shot dead by armed police.
Witness Rick Longley said: "We were just walking up to the (tube) station and there was a loud bang and a guy, someone, crashed a car and took some pedestrians out.
"A guy came past my right shoulder with a big knife and just started plunging it into the police officer. I have never seen anything like that. I just can't believe what I just saw."
2.40pmEmergency response
Emergency services receive reports of the attack and an ambulance crew arrives within six minutes.
Paramedics treat PC Palmer and the knifeman, who is surrounded by armed police.
Government minister Tobias Ellwood is among those who attempt to save the officer's life. The Tory MP gives mouth-to-mouth resuscitation and attempts to stem the flow of blood.
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