They shared a carriage from Buckingham Palace to Horse Guards Parade where they witnessed almost 1,500 troops perform a military display as part of the official Queen's birthday celebrations.
Andrew took up a more prominent place on the balcony after taking part in his first Trooping the Colour ceremony on horseback in his new role as Colonel of the Grenadier Guards.
On Saturday, Harry and Meghan attended the annual Trooping the Colour parade in London.
Meghan Markle is not one to shy away from a style risk.
Per the United Kingdom tabloid The Sun, royal "fashion tradition usually dictates that Royal women do not wear off-shoulder or other more revealing styles". The Royal Air Force also flew past the crowds leaving behind the colours of the British flag.
Instagram princesseugenieShe shared the snap ahead of Father's Day this weekend reportedly very close to her father
Chris Jackson/Getty ImagesIT'S HER PARTYThe Queen's actual birthday was April 21.
Little Charlotte reached out for a little help, and thankfully Kate grabbed her in the nick of time.
The youngster burst into tears and had to be comforted by her mother, who tenderly picked her up and gave her a cuddle.
Despite her apparent nerves, Meghan was in high spirits when she arrived on House Guards Parade with Harry in a carriage, along with the Queen's cousin the Duke of Kent. We think she oozed elegance in her attire.
Savannah Phillips, the Queen's great-granddaughter, appeared unimpressed with Prince George's endless chatter and slapped a hand over his mouth to keep him quiet.
Meanwhile, while Meghan is in work mode, Kate Middleton, 36, is spending her summer maternity leave having fun.
Grandmother gets pardon after Kardashian meets Trump
Kardashian West, in an interview with Mic following that visit last week , said she felt the president listened to her concerns. She said she turned her life around in prison and decided that she wasn't "going to just do time or let time do me".