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Boris Johnson has insisted the UK will leave the European Union by October 31 with “no delay”.

The Prime Minister wrote on Twitter that he will not request an extension to the current Brexit deadline even if he does not secure a new deal by mid-October.

He tweeted: "New deal or no deal - but no delay. #GetBrexitDone #LeaveOct31."

His statement contradicts documents submitted to a Scottish court earlier today, stating that the PM will ask for an extension if he doesn't secure a withdrawal agreement by October 19.

Legislation passed last month by opposition and rebel MPs, the so-called Benn Act, requires that the Prime Minister request a Brexit extension to January 31 to prevent no deal if he has not agreed a withdrawal treaty in the next two weeks.

Mr Johnson, while promising to abide by the law, has repeatedly insisted Britain will leave the European Union "do or die" on Halloween.

Opponents fear he will seek some kind of legal escape route or try to pressure the EU into refusing to agree to an extension request.

In submissions to the Court of Session, the Government said the PM accepted that he was obliged to send a letter to the EU asking for a delay.

Andrew Webster QC, representing the Government, said the documents showed there was "no doubt" about what the Prime Minister will do.

He said: "What we have is a clear statement on behalf of the Prime Minister and Government as to what it will do in respect to the requirements of the 2019 Act.

"They have been put on record so there can be no doubt."

Jo Maugham, a lawyer involved in the case against Mr Johnson, told Sky News: "What we learned today is that the Prime Minister has promised the court, in his own name, that he will ask for an extension under the Benn Act if the conditions are satisfied.

“He’s also promised the court that he will not frustrate the Benn Act (...) He won’t collude with foreign governments to attempt to persuade those foreign governments to veto an extension.

“Those are statements that he’s made to the court."

But MP Steve Baker, leader of the European Research Group of Brexiteer Tories, insisted the Government documents changed nothing.

He said: "A source has confirmed that this just means the Government will obey the law but the source confirmed we will leave on October 31. It's not really a development in the position."

SNP MP Joanna Cherry, one of the campaigners seeking a court order to force the Prime Minister to comply with the law, said he was "not to be trusted".

Following today's hearing in the Court of Session, she said the Government was churning out a stream of contradictions.

She said that while the court heard Mr Johnson would send the letter to the EU if necessary, statements from "unattributable Downing Street sources" were simultaneously claiming that he wouldn't.

She told Sky News: "It seems to me that Steve Baker, like his colleagues in Government, is speaking with a forked tongue.

"The two things cannot simultaneously be true. I believe the Benn Act to be watertight and it is quite clear that if we haven't received a deal with the European Union then Boris Johnson must seek an extension, unless Parliament specifically votes for no deal.

"So they are saying two contradictory things and the purpose of this court action is to get to the heart of the matter, to get to the truth of the matter.

"Boris Johnson is not to be trusted -that is why we are insisting on court orders.

"The question is, if the Government are so clear that they are going to sign the letter, why won't they give a formal undertaking to the court?"

Scottish judge Lord Pentland heard arguments on Friday about what should happen if Mr Johnson does not comply with the law after he insisted last month he'd "rather be dead in a ditch" than request a delay.