Eighty-six sailors from 45 Royal Navy ships and establishments have spent a month preparing ahead of the first ceremony on Sunday morning.
Warrant Officer Eddie Wearing said it was a "massive privilege".
The ceremony is usually carried out by one of the five Foot Guards Regiments from the Army's Household Division.
The change in personnel is to mark 2017 as the "Year of the Navy", which former defence secretary Sir Michael Fallon called "the start of a new era of maritime power".
The sailors have been training at the Royal Navy's headquarters in
Lt Cdr Steve Elliott, 44, from
"As we march out of
"It's great to do this ceremonial piece and have the Royal Navy back in the public eye as well as act as a capstone to the year of the Royal Navy. We couldn't ask for anything better."
The sailors will also be performing Royal Duties at St James's Palace,
What is the Changing the Guard?
Changing the Guard can be traced back to King Henry VII, when a royal bodyguard was first created.
It is the ceremony where one set of guards - the Old Guard - hands over the responsibility of protecting
The Old Guard march from the forecourt of
The New Guard then march, again with a band, from Wellington Barracks to take over.
It draws many tourists, taking place every other day during the winter months and every day over the summer.
The ceremony itself has been taking place since the restoration of King Charles II in 1660.
