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The government has published a 77-page white paper on its blueprint for Brexit.
The document is based around the 12 principles laid down by Theresa May in her Brexit speech last month, including exit from the single market and continued intelligence cooperation.
The Brexit secretary, David Davis, told MPs that Britain was seeking to build goodwill with other members of the EU ahead of beginning of negotiations, and wanted the EU to prosper.
“That cannot be said too firmly: we want the EU to succeed,” he said.
Keir Starmer, the shadow Brexit secretary, complained that the white paper had not been produced ahead of the debate in the House of Commons.
“Shoddy,” shouted another MP.
Another white paper on the Great Repeal Bill, which converts EU law into UK law, will be published in due course.