WASHINGTON — Sen. Edward Kennedy will lie in repose Thursday and Friday at the John F. Kennedy Presidential Library and Museum in Boston, followed by his funeral Saturday at a city church and burial later that day near his slain brothers at Arlington National Cemetery.

Kennedy's family plans to travel by motorcade with his body from their compound on Cape Cod, Mass., to the library in Boston Thursday. The facility will be open to the public for certain periods on both days while Kennedy lies in repose. The Kennedys have planned a private memorial service at the library Friday night, according to a schedule of events released by Kennedy's Senate office.

On Saturday morning, a funeral Mass for the late senator will take place at Our Lady of Perpetual Help Basilica — commonly known as the Mission Church — in the Mission Hill neighborhood of Boston. The cavernous basilica on Tremont Street, built in the 1870s, was where Kennedy prayed daily while his daughter, Kara, successfully battled her own cancer.

"Over time, the Basilica took on special meaning for him as a place of hope and optimism," the family statement said.

Kennedy died late Tuesday after a yearlong struggle with brain cancer. He was 77.

A burial service at Arlington was scheduled for Saturday afternoon.