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Frank Tate-Sutton is speaking to Sky News health correspondent Laura Bundock.

Frank is terminally ill and wanted assisted dying to be brought in.

She tearfully tells Laura how she is relieved the bill has passed the most recent hurdle.

"These are happy tears", she says.

Frank says her quality of life is "very important - and I'm losing it".

She goes on to say: "I don't want to die without dignity, without it being my choice, without my family knowing that this is what I want."

By Ashish Joshi, health correspondent

A chain of events that started with the brutal murder of an MP almost 10 years ago has today lead to historic societal change, the like of which many of us will never see again.

Assisted dying is set to be legalised in England and Wales. In four years time, adults with six months or less to live and who can prove their mental capacity will be allowed to choose to die.

Kim Leadbeater, the MP who has made this possible, never held political aspirations. Previously a lecturer in health, Leadbeater reluctantly stood for election after her sister Jo Cox was fatally stabbed and shot to death in a politically motivated attack in 2016.

And this is when, Leadbeater says, she was forced to engage with the assisted dying debate. Because of the sheer volume of correspondence from constituents asking her to champion the cause.

Polls have consistently shown some 70% of people support assisted dying. And ultimately it is this seismic shift in public opinion that has carried the vote. 

Britain now follows Canada, the USA, Belgium, Switzerland, the Netherlands and Australia. All countries with sophisticated health systems - nowhere has assisted dying been reversed, once introduced.

The relationship between doctor and patient will now also change.

The question is being asked: Is an assisted death a treatment? There is no decisive answer. But it is a conversation that will now take place. The final answer could have significant consequences, especially in mental health settings.

There are still many unknowns. Who will be responsible for providing the service? The NHS? There is a strong emotional connection to the health service and many would oppose the move. But others will argue that patients trust the institution and would want to die in its arms.

The challenge for health leaders will be to try and reconcile the bitter divisions that now exist within the medical community. The royal colleges have tried to remain neutral on the issue but continued to challenge Leadbeater until the very end.

Their arguments of a failure of safeguards and scrutiny did not resonate with MPs. And nor did concerns over the further erosion of palliative care. Leadbeater's much repeated insistence that "this is the most scrutinized legislation anywhere in the world" carried the most weight.

Her argument that patients should not have to fear prolonged, agonising deaths or plan trips to a Dignitas clinic to die scared and alone, or be forced to take their own lives and have their bodies discovered by sons, daughters, husbands and wives because they could not endure the pain any longer was compelling.

The country believed her.

The House of Commons has passed the assisted dying bill.

Kim Leadbeater, who proposed the bill, was seen crying in the chamber as it went through.

Some 314 MPs voted in favour, while 291 against - a majority of 23. 

This is less than half the majority in November at second reading, when 55 more MPs voted in favour than against.

This means the legislation will now be considered by the House of Lords.

By Laura Bundock, health correspondent

Frank Tate-Sutton was watching the debate closely from her south London home. 

She has stage four liver disease and is terminally ill.

She vehemently supports the bill.

"Today, I woke up feeling very emotional," she said.

"My brain's kind of all over the place, a little bit, especially because, you know, it's coming to the final decision, but nothing will stop me being pro to this bill."

The debate has finished on assisted dying, and MPs will now be going into the aye and no lobbies to give show their choices.

One of our reporters has spotted the prime minister going into the aye lobby.

These votes tend to take around 15 minutes to work through.

Stephen Kinnock, who is a health minister, is rounding up the debate in the Commons on the assisted dying bill.

The government is not backing the bill, and Kinnock's support is from an individual standpoint.

Him standing up shows the vote will begin soon.

Kinnock thanks MPs for their scrutiny, including the people who served on the committee which went through proposed amendments.

We now have less than half an hour left on the assisted dying debate.

There are still plenty of MPs hoping to speak in the debate, but they won't get the chance.

The chamber is starting to fill up a bit more with MPs ahead of the vote.

Sir Keir Starmer has appeared in the chamber - after speculation he might not turn up.

He voted in support of the bill last time.

For the side opposing the bill, the Conservative's Dr Kieran Mullan gives the closing speech.

He again criticises the lack of time for debate and the way in which the process has been handled.

Labour MP Chi Onwurah stands up to share with colleagues about her mother backed assisted dying.

She says she was "brought up on the right to die" - saying her mother was disabled, in "great pain" and a cancer survivor.

Onwurah says her mother was a member of the Voluntary Euthanasia Society, the precursor to Dignity in Dying.

She says "Newcastle United, feminism, and the right to die were mother's milk to me".

But the MP urges colleagues to vote against the bill because it is "without the rigour or scrutiny necessary to make assisted dying work in practice".

Maureen Burke, the Labour MP for Glasgow North East, has just shared a moving story about her brother.

She says David, when he was 52 was suddenly diagnosed with advanced pancreatic cancer.

"Over the next 18 months, David tried everything he could to stay alive," she says.

But Burke says nothing was successful and by the end of his life, David was living in a hospital bed at home, with increasing doses of painkillers.

"His body became skeletal and his speech gradually disappeared, and one of the last times when he still was able to speak, he called out to me from his bed and told me if there was a pill that he could take to end his life, he would very much like to take that," she goes on.

Burke - with MPs behind her appearing to be emotional - says David continued to "suffer in silent pain for a further three weeks",

She says that he is doing "right by her brother" in speaking in support of assisted dying.

Yesterday, Labour MP Vicky Foxcroft resigned as a government whip over her party's approach to welfare reforms.

She spoke in the chamber today to outline which she could not support assisted dying - and spoke about how it would impact disabled people.

Foxcroft said: "I don't claim that every disabled person opposes assisted dying, but I do claim that the vast majority of disabled people and their organisations oppose it.

"They need the health and social care system fixing first. They want us as parliamentarians to assist them to live, not to die.

"Disabled people's voices matter in this debate, and yet, as I've watched the bill progress, the absence of disabled people's voices has been astonishing.

"They have wanted to engage. Indeed, they have been crying out to be included, yet the engagement has been negligible."

She highlights, for example, the lack of accessible versions of the legislation.