Boromir's Last Farewell-Part IV - Fourth section...
"That is Boromir, if I am not very much mistaken," Celeborn said calmly.
" How did he come here, and how was he found?" Celebrian asked quietly. Like her mother, the Lady Celebrian did not say much, but when she spoke, she spoke with the wisdom that comes from long years...and deep sorrow. She was tall and slim, and had inherited her mother's long golden hair and her father's piercing, fathomless eyes.
"We four-Legolas, Gimli, Sam, and myself-were watching the dawn together. Sam spotted the boat..." When Frodo finished his tale, there was a profound silence from all. Then Elrond broke it.
" It is not now a matter of importance how he came here," the Elven-lord said quietly. His deep, rich voice was sorrowful, but there was still an undercurrent of the ever-prsent joy of Valinor in it. " We shall bury him alongside Bilbo and Shadowfax. Thus shall he know he is indeed forgiven for his last misstep, and honored for the valiant part he played in the Fellowship of the Ring."
They buried him in honor and grief, his helm and shattered sword beside him. When Frodo, Sam, and Gimli in their turns died, they were buried alongside him, and thus the Company was together even to the uttermost end.
The Orc-stuff was given to the Sea, but the Elven-boat was kept in great honor. Legolas took Gimli out in it many times, and eventually the dwarf became more adept at handling the craft than any would believe.