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The jury in the Lee Rigby murder trial have been shown footage of the moment police confronted the men accused of killing the soldier, Michael Adebolajo and Michael Adebowale.
In cross-examination, prosecutor Richard Whittam QC asked defendant Michael Adebolajo: "You and your co-defendant, acting together, killed Lee Rigby, didn't you?"
He replied: "Yes."
The barrister asked: "That's because together you had agreed to kill someone. Do you agree?"
Again, he replied: "Yes."
Adebolajo went on: "We planned a military attack which obviously involved, sadly - it's not something enjoyable, something fantastic - the death of a soldier. It's a military attack."
Michael Adebolajo told the jury that he and his co-defendant Michael Adebowale prayed to Allah before the attack that they would attack a soldier and not a civilian:
One of the alleged killers of Middleton soldier Lee Rigby has told a court he loves al Qaida and considers the terror group to be "his brothers".
Michael Adebolajo, 28, began giving evidence at the Old Bailey today, surrounded by five security guards in oak-pannelled Court Two.
He and Michael Adebowale, 22, are accused of murdering Fusilier Rigby by running him down with a car and then hacking him to death with a meat cleaver and knives near Woolwich Barracks in south east London on May 22.
The soldier's relatives sat feet away as Adebolajo spoke to the court.
Adebolajo told the court that he took the name Mujahid, meaning fighter, in 2002 or 2003.
Latest ITV News reports
Video footage of Lee Rigby being hit by a car and his alleged murderers dragging his body into the middle of the road was shown to a jury.