Kennedy died late on Tuesday in Hyannis Port, Massachusetts, at age 77 after battling brain cancer for more than a year. He will be buried at 5 p.m. (2100 GMT) on Saturday near his brothers, President John F. Kennedy and Senator Robert Kennedy, in a private service at the cemetery outside Washington.
Senator Edward Kennedy was eligible for burial at the cemetery because he both served in the U.S. military and was an elected official.
The senator will lie in repose on Friday at the John F. Kennedy Presidential Library that he had helped to develop over years into a forum for debating issues.
It will be open to the public from 10 a.m. to 4 p.m. followed by a private "Celebration of Life Memorial Service" from 7 p.m. to 9 p.m.
A Roman Catholic, Kennedy's funeral Mass is planned for Saturday at Our Lady of Perpetual Help Basilica in Boston where he prayed daily while his daughter, Kara, was struggling with lung cancer.