The couple, both wearing suits, walked towards a friends-and-family reception in warm sunshine at the Zuiderpark, where the games are being held. They were photographed and filmed by about 50 members of the media.
WATCH: Prince Harry rocks a surprising new look for Invictus Games video
Harry wore a navy suit and Meghan wore an all-white suit with a white handbag. At one point Meghan waved towards the press pen, and as they greeted people the couple placed their hands on each others’ backs.
The pair arrived in the Netherlands on Friday
Meghan's stunning suit is by Italian fashion house Valentino and available to shop at Matches Fashion, but it's selling out fast.
Cut from wool crepe, the trousers feature smart pintucked creases down the wide legs, while the jacket is tailored with sharp notch lapels and cinches in at the waist for a classic silhouette.
Harry was in great spirits
The Duke and Duchess' press office confirmed the news, with a spokesperson revealing that the visit took place as the pair headed to the Hague in the Netherlands ahead of the Invictus Games.
It was the pair's first joint visit to the United Kingdom since they quit as working royals back in 2020. Harry had been back in the country for the funeral of his grandfather, and the unveiling of a statue for his late mother, Princess Diana.
The pair have arrived for the 2022 Invictus Games
The pair were sighted at the traditional Maundy Thursday service, in which the Prince of Wales stood in for her Majesty.
Harry has been wanting to visit his home country with his wife and their two children, Archie and Lilibet, but he and his family are "unable to return" because it is too dangerous, his legal representative has said.
Meghan gave a wave to the media
Like this story? Sign up to our special Queen’s Platinum Jubilee newsletter to get latest news, photos and videos related to Her Majesty's special milestone.