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Labour peer and remain supporter Andrew Adonis had the support of 100 peers but lost a vote to amend the Queen's Speech on the decision not to negotiate continued membership of single market and customs union.

Ahead of a similar move by Labour and Liberal Democrat MPs on Thursday, Daily Politics presenter Andrew Neil heard from peer Peter Hain, who believes his party should push for the UK to remain in single market, and MP Caroline Flint, who said doing that would mean staying in the EU in all but name.