London, UK - The Duke and Duchess of Sussex returned to the UK on Thursday in their first visit together since quitting as senior working royals, more than two years ago. On Friday, they stunned at the opening of the Invictus Games.

Prince Harry and Meghan Markle stopped to visit the Queen, Harry's 95-year-old grandmother, on their way to the Invictus Games in The Hague, Netherlands.

They are also believed to have met with Harry's father, Prince Charles, who appeared at Windsor Castle and the Royal Maundy Service with his wife Camilla, the Duchess of Cornwall.

The trip to the UK comes after Harry was absent from the Duke of Edinburgh's memorial service in London last month, and many have reported a tension-filled relationship between Harry and Meghan and his family.

The prince is also bringing a claim against the UK's Home Office after being told he would no longer be given the same degree of personal protective security when visiting from the US, despite offering to pay for it himself.

The duke wants to bring his children to visit, but claims he and his family are "unable to return to his home" because it is too dangerous, his legal representative has said.

A spokesperson for Harry confirmed earlier in March that he would miss the service for his grandfather, but that he hoped to visit the Queen soon.

On Thursday night, a spokesperson for the couple confirmed they visited the Queen ahead of their appearance at the opening of the Invictus Games on Friday.

Joe Little, managing editor of Majesty Magazine, described it as "a very welcome if long overdue move" on the part of Harry and Meghan.

Meghan's attendance at the Invictus Games, which will be for the first few days, was confirmed by a spokesperson for the couple on Monday. Her trip to the UK and the Netherlands is her first to Europe since she quit as a senior working royal back in 2020.

The couple walked the "yellow carpet" at a friends and family reception at the Invictus Games on Friday. Meghan stunned in an all-white pantsuit while the two greeted fans.

A film crew is expected to be joining the couple at the games as part of filming for the couple's Netflix series called Heart Of Invictus.

Harry and Meghan chose to make their first public appearance together at the Invictus Games almost five years ago. It was Meghan's first appearance at an official engagement attended by Harry on September 24, 2017, when she attended the Invictus Games opening ceremony in Toronto, Canada – although the pair sat about 18 seats apart.

The following day, the pair emerged hand in hand to make their first official public appearance together at the wheelchair tennis event.

Prince Harry founded the games to aid the rehabilitation of injured or sick military personnel and veterans from across the globe by giving them the challenge of competing in sporting events similar to the Paralympics.