King Charles and Queen Camilla reportedly welcomed Prince Harry, Meghan Markle and their two children for a private family meeting at Highgrove House on Friday.
Buckingham Palace confirmed that the Duke and Duchess of Sussex visited the royal residence with Prince Archie and Princess Lilibet during their trip to Britain.
The meeting took place shortly after Harry attended an Invictus Games event in Birmingham.
Royal correspondent Rebecca English said no photographs from the gathering would be made public because it was a private family occasion.
Harry has returned to Britain only once or twice a year since his highly publicised rift with his father, King Charles, and his elder brother, Prince William.
The visit also marked a rare return to the UK for Archie, 7, and Lilibet, 5, who had not visited the country since 2022.
Before arriving in Britain for five days of charity engagements, Harry had reportedly been in discussions with Buckingham Palace over his security arrangements and accommodation. His visit also came amid developments in a major privacy case he brought against British newspaper publishers.
