  The ability to characterize exoplanets by spectroscopy of their atmospheres
requires direct imaging techniques to isolate planet signal from the bright
stellar glare. One of the limitations with the direct detection of exoplanets,
either with ground- or space-based coronagraphs, is pointing errors and other
low-order wavefront aberrations. The coronagraphic detection sensitivity at the
diffraction limit therefore depends on how well low-order aberrations upstream
of the focal plane mask are corrected. To prevent starlight leakage at the
inner working angle of a phase mask coronagraph, we have introduced a
Lyot-based low-order wavefront sensor (LLOWFS), which senses aberrations using
the rejected starlight diffracted at the Lyot plane. In this paper, we present
the implementation, testing and results of LLOWFS on the Subaru Coronagraphic
Extreme Adaptive Optics system (SCExAO) at the Subaru Telescope.
  We have controlled thirty-five Zernike modes of a H-band vector vortex
coronagraph in the laboratory and ten Zernike modes on sky with an integrator
control law. We demonstrated a closed-loop pointing residual of 0.02 mas in the
laboratory and 0.15 mas on sky for data sampled using the minimal 2-second
exposure time of the science camera. We have also integrated the LLOWFS in the
visible high-order control loop of SCExAO, which in closed-loop operation has
validated the correction of the non-common path pointing errors between the
infrared science channel and the visible wavefront sensing channel with
pointing residual of 0.23 mas on sky.
