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I don't think a queen box will fit. A full-size (double) will, but it's a really tight squeeze. Full is 54" wide and it takes a lot of wiggling to get it in and out and has to go in diagonally - queen is 60" wide by who-knows how thick. The mattress will fit no problem as it's flexible. Like Andyg said, box on top, mattress inside. That's how I've always done it.
-1999 Plymouth Grand Voyager SE. Factory Emerald Green, with aftermarket rust accents ("What rocker panels?!") 192,000 miles (and counting) with the 3.8L and ORIGINAL 41TE. The Spinach-Van!
-1996 Plymouth Grand Voyager SE, Factory Rosewood paint with ZERO rust, 3.3l, 175,000 miles. The "new" van. It's a baby. The Eggplant-Van!