Prince Harry and Meghan Markle have seen Prince Charles for the first time since quitting royal life and moving to the US.
A spokesperson for the Duke and Duchess of Sussex confirmed the couple met with the Queen on Thursday morning.
No photos have emerged of their brief visit, which came to light after the couple had already left the UK.
The two dropped by before arriving in The Hague for the Invictus Games, a sporting event founded by Harry for wounded, injured or sick servicemen.
Harry and Meghan's visit to Windsor was shrouded in secrecy and the reunion with Prince Charles, before the Queen, was described as "edgy", the Mirror reported.
Prince Harry is believed to have offered to make the stop-over en route to the Netherlands a year after last meeting Her Majesty at Prince Philip's funeral in April 2021.
And he also had the chance to meet Charles who was attending the traditional Maundy Thursday service at St George's Chapel with Camilla.
The meeting with Charles is reported to have taken place at around 10am and lasted for around 15 minutes, with a Daily Mail source saying that Camilla came in half way through it.
The source stated: "He (Charles) loves his son and he has been broken-hearted by everything that has taken place, although he fears history repeating itself with Harry just as it did with Princess Diana. But he also wants to keep the door open and keep talking, something he still regrets not doing with Diana."
The meeting was a chance to clear the air with the relationship having become increasingly frosty since the Sussexes left the UK and set up home in California.
After the meeting with Charles, Harry and Meghan then saw the Queen where the "atmosphere was a lot less edgy".
The Queen is believed to have been sad that she didn't get the chance to meet her great grand children but the Duke and Duchess said their plan is to return so she can spend time with 11-month-old Lilibet and Archie, two, who are believed to be in the US.
The Queen has suffered a catalogue of health issues in recent months.
A source close to the Sussexes said: "Both the Duke and Duchess are very mindful the Queen is getting older and has had health issues associated with her great age.
"They have made it clear they are certainly planning to return to see the Queen with their family in the near future."
The Sussexes have been critical of the royal family in regular media appearances in the United States including the bombshell interview with Oprah Winfrey.
Harry told Oprah that he felt he needed to end the cycle and bring up his family in a new environment away from the royals.
With Harry having announced he will publish his memoirs later this year, there are also worries in royal circles that fresh allegations could be made to damage the family.
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