Also known as the Stone of Destiny and regarded as a sacred, historic symbol of Scotland's monarchy and nationhood, it was moved from its permanent home at Edinburgh Castle for the first time in more than 25 years, Historic Environment Scotland (HES) said.
It was removed from the castle on Thursday in a ceremonial procession involving Joseph Morrow, the Lord Lyon King of Arms and the monarch’s representative in Scotland, HES said.
"The late Queen brought it back in a kindness to Scotland in 1996, and it comes down as a unity symbol of friendship and part of Scotland's contribution to the coronation," Morrow said after a ceremony in Westminster Abbey to mark the stone's return to London.
The stone's origins are unknown, but it was believed to have been used in the inauguration of Scottish kings as far back as the early 9th century AD.
England's King Edward I seized the stone from the Scots in 1296, and it was incorporated into the Coronation Chair he ordered in 1308 for London's Westminster Abbey.
That chair has since been used in the coronation ceremonies of English and British monarchs since Henry IV in 1399.
Aldershot rehearsal ahead of King's coronation
Hundreds of members of the Household Division marched in Aldershot on Friday, as part of the rehearsal for Britain's King Charles coronation procession.
“It's a start moment for the country, a tradition going on for a thousand years and all of us are proud to have the opportunity to be part of it,” said Brigade Major of the Household Division, Lieutenant Colonel James Shaw who is leading the procession.
Member of the Marching Party, Trooper Holbrook said she was very proud of taking part in the coronation, adding that it felt “surreal”.
Charles will be crowned at London's Westminster Abbey on May 6 in a ceremony full of resplendent pomp and pageantry, with traditions dating back 1,000 years.