Former justice secretary David Gauke has said Prime Minister Boris Johnson must obey the law on Brexit.

Referring to the PM's Incredible Hulk analogy, Mr Gauke, who lost the Tory whip over his Brexit stance, told BBC Radio 4's Today programme: "Maybe the Incredible Hulk doesn't have to comply with the law, but the British Government does.

"And if Parliament has neither supported a deal, nor supported a no-deal departure, then the law is clear that he has to seek an extension, the Prime Minister has to seek an extension and that is what he will have to do.

"That is what the law states."

Foreign Secretary Dominic Raab told BBC Radio 4's Today programme: "I think the precise implications of the legislation need to be looked at very carefully.

"We are doing that."

Mr Raab said: "The UK Government is always going to behave lawfully.

"I think the suggestion otherwise is nonsense.

"We, of course, take these considerations very seriously.

"At the same time, the legislation that was required, the surrender bill, is deeply, deeply flawed."

The Foreign Secretary added: "But the Government will comply with the law. It goes without saying, frankly."

Mr Raab said that a Brexit transition period would not be extended.

He said: "No, it is not something under consideration."

Finnish European affairs minister Tytti Tuppurainen said the UK still had not put forward any proposals that could "compensate" for the removal of the Irish backstop.

"We have to remain open and see what happens in the domestic politics of the United Kingdom," she said as she arrived at a meeting of EU ministers in Brussels.

"Of course the European Union is always ready to negotiate when a proper proposal from the United Kingdom side is presented. So far I haven't seen any proposal that would compensate the current backstop in the Withdrawal Agreement."

Belgian foreign minister Didier Reynders said Boris Johnson needed to put forward concrete proposals for a revised Brexit deal at the European Council meeting in October.

"It is very difficult to react without any concrete proposals so we will see if it's possible for Michel Barnier to receive something in the next days or in the next hours," he said.

Asked what his message to Mr Johnson was, Mr Reynders said: "To come to the council and to come, maybe, with some ideas."

European Commission president Jean-Claude Juncker and EU chief negotiator Michel Barnier have arrived at a restaurant in Luxembourg City ahead of a working lunch with Boris Johnson.

Boris Johnson has met with European Commission president Jean-Claude Juncker for their first face-to-face Brexit discussions since he became Prime Minister.

They posed for photos before entering Le Bouquet Garni restaurant in Luxembourg City for a working lunch.

Outside the PM was asked if he was optimistic about the talks.

"Cautious, cautious," he told reporters.

Mr Juncker was asked if he was confident of progress as he entered.

"We will see," he replied.

Downing Street said the Prime Minister could both ensure the UK left the European Union come what may on October 31 and comply with the law aimed at preventing a no-deal Brexit - but refused to explain how.

The Prime Minister's official spokesman said: "The position of the PM is that we comply with the law but that we are leaving on October 31 whatever the outcome."

Asked how those two things could be compatible, the spokesman said: "I've avoided getting into any of that beyond saying that governments comply by the law but we will be leaving on October 31."

Ireland's Finance Minister has said it is evident that the new British Government wants scope for regulatory divergence from the European Union whether or not there is a deal.

Paschal Donohoe told the DCU Brexit Institute that this is clear from the letter Prime Minister Boris Johnson wrote to the President of the European Council Donald Tusk in August.

He added: "The challenges and opportunities that Ireland will face in the medium term will be heavily influenced by how far the United Kingdom decides to diverge from the European Union.

"While the Irish Government will absolutely respect the choice of the British Government to pursue a path of regulatory divergence from the EU, there are clear implications for this island and the Good Friday Agreement that cannot be ignored in the event that this becomes its policy."