And a royal source has since revealed details of the meeting, which took place amid celebrations for the Queen's Platinum Jubilee.
Speaking to Hello!, the insider shared that the occasion was 'very emotional' and that Prince Charles and his wife Camilla, Duchess of Cornwall, were 'thrilled' to spend time with the Duke and Duchess of Sussex's two children.
Markle and Prince Harry, who stepped back from their duties as working royals in 2020 and left the UK for California, travelled from their Montecito home just before Lili's first birthday and spent some private time with family during the Queen's Jubilee celebrations.
While at the briefing for Clarence House's annual review, the source said of the royal couple: 'It was fantastic to see them. It was wonderful to have them back in Britain. The Prince and the Duchess were absolutely thrilled to see them.'
They added: 'The Prince, of course, hasn’t seen his grandson Archie for a bit of time and so it was very, very, very special to have some time with him.
'He hadn’t met Lili, his granddaughter, and so to meet her was very emotional, a very, very wonderful thing.'
Lili also met her grandmother, the Queen for the first time, enjoying her birthday at Frogmore Cottage, where Markle and Prince Harry stay when in the UK.
In April, reports swirled about Markle and Prince Harry having secretly met with the Queen for the first time in two years when they did a pitstop to the UK before the Invictus Games in the Netherlands.
Royal reporter Omid Scobie tweeted: 'It was a Windsor visit that their team recently revealed the duke "hoped to do."'
It was also understood that the meeting in April saw Markle and Prince Harry tell the Queen that she would get to hug her great-grandchildren 'in the near future'.
At the time, Prince Harry, who reportedly met briefly with his father Prince Charles too, was believed to have said in relation to the Queen: 'It was great to see her.'
Prior to his recent reunion with Archie, Prince Charles had last seen Archie when he was just six months old.
In January, Prince Charles, who is next in line to the throne, was believed to have invited Markle and Prince Harry to stay amid his younger son's security battles.
Prince Harry had been seeking a judicial review after the UK Home Office denied his request to pay for police protection for his family during UK visits.
A source told The Mirror: 'The Prince of Wales has been saddened that he hasn’t had the opportunity to spend time with his grandchildren, which he really does miss.
'This is something he is hoping to remedy which is why he made the gesture for Harry, Meghan and the children to stay with him if they wanted to, whenever they may come home for a period of time.'
There was uncertainty at this point as to whether or not Markle and Prince Harry would be attending the Platinum Jubilee.
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