The Hollywood legend, who died Wednesday at the age of 79, was remembered with a small, private funeral at Forest Lawn Memorial Park in Glendale Calif., where her family gathered on Thursday afternoon.
Just after 2 p.m., five black stretch limousines pulled up to the mausoleum where Taylor was placed, according to a source. Taylor's longtime friend, Michael Jackson, was also laid to rest at Forest Lawn.
The service was exclusively for Taylor's family, including her 10 grandchildren, another source tells PEOPLE.
Taylor, who died of congestive heart failure, is also survived by four children: Michael and Christopher Wilding, Liza Todd and Maria Burton.
A public service in her honor is expected to he held at a later date.