Jurors at the inquest into the death of Mark Duggan have been told they are on a "quest to find the truth".

They will determine whether he was lawfully killed when he was shot by armed police, sparking a wave of riots in England.

More than two years after the 29-year-old died, the full inquest into his death at the hands of Scotland Yard marksmen began at the Royal Courts of Justice yesterday.

Mr Duggan was killed when he was shot by police who stopped the taxi in which he was travelling in Tottenham, north London, in August 2011.

The coroner, Judge Keith Cutler, told the jury: "It is a quest to find the truth. This may sound rather grand but it is in fact an important task and one which may take us a little time."

Several relatives and loved ones of Mr Duggan attended the hearing, and his mother, Pamela Duggan, left in tears during the afternoon session.

Judge Cutler said the jury would have to answer a number of questions, including whether Mr Duggan was lawfully killed.

"It may be the case that the heart of your considerations will be whether Mark Duggan was killed lawfully or unlawfully," the coroner said.

"There is no dispute that Mark Duggan sadly died as a result of a bullet fired by a police officer. You will hear evidence from that officer."

He added: "We will no doubt all listen with particular care to his explanations for his actions."

The inquest, which is expected to last eight to 10 weeks, was adjourned.