Prince Harry and Meghan Markle have first public hug during Invictus Games - best photos

Prince Harry and Meghan Markle have delighted their fans as they got stuck in at the Invictus Games, taking part in a dring challenge and getting driven around in mini-cars.

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The royal launched the games in 2014 and despite having relinquished his royal duties for a life in California with his wife Meghan and two children, the event is especially close to his heart. This year's games run from 16 to 22 April at The Hague, having been delayed by the pandemic.

The royal couple looked so stylish in some casual wear, with Meghan watching on as her husband tackled a tricky course.

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WATCH: Prince Harry dons unusual look ahead of Invictus Games

The mum-of-two could only look on as her husband took part in a driving challenge. During his experience, the Duke of Sussex navigated a course of bridge structures, ramps and rocks.

The royal coyple were sighted sharing what is believed to be their first hug in public. How sweet!

The Duke and Duchess were then driven around by a pair of youngsters in some minature Land Rovers. Meghan took the time to applaud Mya, a five-year-old from France for her impressive driving.

Meanwhile, Harry was driven around by Scarlet, four, from the Netherlands.

The royal changed into smarter clothes as they headed for the opening ceremony. Harry looked dashing in his grey suit as he walked hand-in-hand with Meghan, who styled out an off-the-shoulder top and black trousers.

As she spoke at the opening ceremony, the Duchess of Sussex paid special tribute to the Ukrainian team, due to the ongoing invasion of the country from Russia.

"For each team, my husband and I both recognise it's been a lot to get here, both physically and emotionally," she said. "Not least of which for the Ukraine team, who we are all standing with."

The couple shared a kiss as Meghan introduced her husband to the stage, and heaped him with praise.

"I could not love and respect him more and I know that all of you feel the same because he is your fellow veteran, having served two tours of duty in Afghanistan and 10 years of military service," the royal said.

"He's the founder of the Invictus Games, and the father to our two little ones, Archie and Lili. Please welcome my incredible husband, Prince Harry, the Duke of Sussex."

The Duke also paid tribute to the Ukrainian team, saying: "Your bravery in choosing to come and for being here tonight cannot be overstated.

"You told me yesterday when you decided to join us despite all odds, you said you came to be on this global stage, not simply to show your strength but to tell your truth, the truth, of what is happening in your country.

"You know we stand with you. The world is united with you and still you deserve more. And my hope is that these events, this event, creates the opportunity in how we as a global community can better show up for you."