Efforts to reach a Brexit deal before Thursday’s summit of European leaders are continuing in Brussels.
Negotiators from both sides are trying to bridge what senior EU official Michel Barnier called “big gaps”.
EU ambassadors were told on Sunday the UK would make concessions on its customs plan for Northern Ireland.
Speaking in the House of Commons, Boris Johnson said the government was preparing to leave on 31 October and it was time to “get Brexit done”.
Outlining his legislative agenda for the year ahead – which includes seven Brexit-related bills – the prime minister hit out at those who were advocating what he called more “dither and delay”.
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Both sides have said they hope to agree a deal before the EU summit on Thursday and Friday, and if that happens, the government says it will introduce a withdrawal agreement bill to be voted on next Saturday in a special Parliamentary session.