Meghan Markle and Prince Harry visit Queen Elizabeth at Windsor Castle

Couple are also believed to have met Prince of Wales in visit on way to Invictus Games

Meghan Markle and Prince Harry in New York on September 23, 2021. AP

The Duke and Duchess of Sussex have flown to the UK to visit the Queen on their way to the Invictus Games in The Hague.

Harry and Meghan, who have not been in the UK together since they resigned as senior working royals more than two years ago, are also believed to have met the Prince of Wales.

It is understood the couple were at Windsor Castle on Thursday.

The trip to the UK comes after Harry was absent from the Duke of Edinburgh’s memorial service in London last month.

He is bringing a claim against the Home Office after being told he would no longer be given the same degree of personal protective security when visiting from the US, despite offering to pay for it himself.

Harry wants to bring his children to visit, but he and his family are “unable to return to his home” because it is too dangerous, his legal representative has said.

A representative for Harry said earlier in March that he would miss the service for his grandfather, but that he hoped to visit the Queen soon.

On Thursday night, a representative for the couple confirmed they visited the Queen ahead of their appearance at the Invictus Games, which open this weekend.

Joe Little, managing editor of Majesty Magazine, described it as “a very welcome, if long overdue move” on the part of Harry and Meghan.

This week Dai Davies, a former head of royal protection at Scotland Yard, said that the idea Harry is unable to come to the UK due to safety concerns is “sheer unadulterated nonsense”.

He said the duke was “not an expert in security”.

“The truth is, I have no doubt that he will be protected, whether he takes his own team or whether the Dutch authorities give him some kind of VIP status," Mr Davies said of the games in The Hague.

“The truth is … both countries, ours and the Netherlands, have sophisticated systems of determining risk.

“This country has determined he is no longer at risk. That may or may not be true but people far better qualified than I am now can make that decision and they never make it lightly.”

He said the Ministry of Defence was involved in looking after royals in the Netherlands, and that the Dutch royal protection squad was not as big or as experienced as the UK’s.

Prince Harry and Meghan Markle made their first public appearance together watching the wheelchair tennis at the 2017 Invictus Games in Toronto, Canada, September 2017. Getty Images

Britain's Prince Harry with Meghan Markle announcing their engagement at The Sunken Gardens at Kensington Palace on November 27, 2017. At the time, it was also announced that they would live at Nottingham Cottage in the grounds of Kensington Palace following their marriage. AFP

The couple made their first official public engagement together in Nottingham on December 1, 2017 in Nottingham, England. Getty Images

Markle joined her fiancee and his family for a traditional royal Christmas in 2017, seen here after the church service at St Mary Magdalene Church in Sandringham, Norfolk. AFP

To begin their 2018 engagements, the couple visited Reprezent 107.3FM in Pop Brixton on January 9 in London, England. Getty Images

Ahead of their wedding, Meghan Markle and Prince Harry visited all of the countries in Great Britain. Seen here arriving at visit Cardiff Castle on January 18, 2018 in Cardiff, Wales. Getty Images

Markle took to the crowds at the walkabout events warmly. Getty Images

At early events, such as this visit to a street dance class during their visit to Star Hub community and leisure centre in the Tremorfa area of Cardiff, the couple were extremely animated. AFP

Meghan Markle's fashion choices made headlines, a favourite was the chic suit she wore for the Endeavour Fund Awards Ceremony at Goldsmiths Hall on February 1, 2018 in London, England. Getty Images

Following a January visit to Wales, they visited Scotland in February 2018. Prince Harry and Meghan Markle meet Pony Major Mark Wilkinson and regimental mascot Cruachan IV during a walkabout on the esplanade at Edinburgh Castle. PA

During the visit, Prince Harry and Meghan Markle attended a reception for young people in the Palace of Holyroodhouse in Edinburgh. AFP

The 'Fab Four' as they were known: Prince Harry, Meghan Markle and the Duchess and Duke of Cambridge during the first Royal Foundation Forum in central London. PA

Meghan Markle meets local school children during a walkabout with Britain's Prince Harry during a visit to Birmingham in March 2018. Reuters

The Duke and Duchess of Cambridge, Prince Harry and Meghan Markle, arrive for the Commonwealth Service at Westminster Abbey, London on March 12, 2018. PA

Ahead of their wedding, the official commemorative china range was unveiled. PA

In March, Prince Harry and Meghan Markle visited Northern Ireland. Getty Images

With the extended royal family at the The Queen's Birthday Party, at the Royal Albert Hall, London. The event was a star-studded concert to celebrate her 92nd birthday on April 21, 2018. Getty Images

Meghan Markle and her mother, Doria Ragland arrive at Cliveden House Hotel on the National Trust's Cliveden Estate to spend the night before her wedding to Prince Harry on May 18, 2018 in Berkshire, England. Getty Images

Ahead of their wedding, Markle's father, Thomas Markle, spoke regularly to US press and fell ill, so was unable to attend the wedding and walk her down the aisle. However, she arrived for her nuptials with mother, Doria Ragland. AFP

Britain's Prince Harry, Duke of Sussex and his wife Meghan, Duchess of Sussex leave from the West Door of St George's Chapel, Windsor Castle, in Windsor on May 19, 2018 in Windsor, England. Getty Images

Duchess of Sussex and Prince Harry, Duke of Sussex wave as they leave Windsor Castle after their wedding to attend an evening reception at Frogmore House, hosted by the Prince of Wales on May 19, 2018 in Windsor, England. Getty Images

Following their wedding and honeymoon, which was speculated to be in Namibia, Rwanda or Botswana, they were back to royal life at the Queen's Birthday Parade, 'Trooping the Colour' on Horseguards parade in London on June 9, 2018. AFP

The newlyweds appeared on the balcony with the extended royal family. Wenn

Queen Elizabeth II laughs with Meghan, Duchess of Sussex during her first solo engagement, a ceremony to open the new Mersey Gateway Bridge on June 14, 2018 in the town of Widnes in Halton, Cheshire, England. Getty Images

The couple made a string of appearances following their wedding, including to the Royal Ascot horse racing meet, in Ascot, west of London, on June 19, 2018. AFP

Meghan, Duchess of Sussex, Prince Harry, Duke of Sussex and Queen Elizabeth II at the Queen's Young Leaders Awards Ceremony at Buckingham Palace on June 26, 2018 in London, England. Getty Images

Meghan arrives with her mother Doria Ragland and Prince Harry to host an event to mark the launch of a cookbook with recipes from a group of women affected by the Grenfell Tower fire at Kensington Palace on September 20, 2018 in London, England. Getty Images

Ahead of Prince Charles's 70th birthday, Clarence House released this family photo, with Camilla Duchess of Cornwall, Prince William, Duke of Cambridge, Catherine Duchess of Cambridge, Prince George, Princess Charlotte, Prince Louis, Prince Harry Duke of Sussex and Meghan Duchess of Sussex. Clarence House via Getty Images

After announcing their pregnancy, Prince Harry, Duke of Sussex and Meghan, Duchess of Sussex embarked on a 16-day Autumn tour visiting cities in Australia, Fiji, Tonga and New Zealand. Getty Images

The tour began in Sydney, Australia where the Duke and Duchess of Sussex watched competitors taking part in a sailing event at the 2018 Invictus Games in Sydney harbour. PA

Britain's Prince Harry and his wife Meghan, Duchess of Sussex visit Redwoods Tree Walk in Rotorua on October 31, 2018. AFP

Back in London, Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, Prince Harry, Duke of Sussex and Meghan, Duchess of Sussex attend a service marking the centenary of WW1 armistice at Westminster Abbey on November 11, 2018 in London, England. Getty Images

Their second Christmas as a four: Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge, Meghan, Duchess of Sussex and Prince Harry, Duke of Sussex arrive to attend Christmas Day Church service at Church of St Mary Magdalene on the Sandringham estate on December 25, 2018. Getty Images

Britain's Prince Harry and Meghan, Duchess of Sussex leave after the Commonwealth Service at Westminster Abbey, on Commonwealth Day, in London, Britain March 11, 2019. This was one of the duchess's final engagements before taking maternity leave. Reuters

On May 8, 2019, Prince Harry, Duke of Sussex and Meghan, Duchess of Sussex, introduce newborn son Archie Harrison Mountbatten-Windsor during a photocall in St George's Hall at Windsor Castle. The baby boy was born on May 6, 2019. Getty Images

The couple held a private christening in July 2019, but released official photographs with their son. Reuters

This official christening photograph released by the Duke and Duchess shows Prince Harry, Duke of Sussex and Meghan, Duchess of Sussex with their son, Archie and family members ,the Duchess of Cornwall, Britain's Prince Charles, Prince of Wales, Ms Doria Ragland, Lady Jane Fellowes, Lady Sarah McCorquodale, Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge in the Green Drawing Room at Windsor Castle, near London, Britain July 6, 2019. Reuters

On the first day of their official tour 10-day tour of South Africa, the couple visited Cape Town's Nyanga township, and people from the Justice Desk initiative. Reuters

While in Cape Town, they visited Auwal Mosque, the first and oldest mosque in South Africa, in the Bo Kaap district of Cape Town, South Africa, September 24, 2019. During their time in South Africa, the duchess described adjusting to royal life as 'a struggle'. Reuters

The couple have kept Archie out of the public eye but he did accompany them on their royal tour of South Africa, where he attended a meeting with Archbishop Desmond Tutu at the Desmond & Leah Tutu Legacy Foundation, on September 25, 2019 in Cape Town, South Africa. Getty Images

Prince Harry with son, Archie Harrison Mountbatten-Windsor, in Canada in late 2019. It had been expected that the couple would move to the North American country after leaving the British royal family, however they are now living in Los Angeles. Instagram / Sussex Royal

The couple chose to spend Christmas 2019 away from the royal family in Canada, but returned to London and visited visit to Canada House in thanks for the warm Canadian hospitality and support they received during their recent stay in Canada, on January 7. The following day, the couple announced their intention to step back as senior members of the royal family and split their time between the UK and North America. Getty Images

In March, Prince Harry, Duke of Sussex and Meghan, Duchess of Sussex, returned to London for their final string of public events. Seen here leaving the The Endeavour Fund Awards at Mansion House on March 5. Wireimages

Britain's Prince Harry and his wife Meghan, Duchess of Sussex, arrive to attend the Mountbatten Festival of Music at the Royal Albert Hall in London, Britain March 7, 2020. Reuters

Prince Harry, Duke of Sussex and Meghan, Duchess of Sussex, made their final public appearance as royals at the 2020 Commonwealth Day Service at Westminster Abbey on March 9, 2020 in London, England. Getty Images

Meghan’s attendance at the Invictus Games, which will be for the first few days, was confirmed by their representative on Monday.

Her trip to the UK and the Netherlands is her first to Europe since 2020.

The couple are expected to make an appearance on the “yellow carpet” at a friends and family reception at the Invictus Games on Friday.

A film crew is expected to be joining the couple at the games as part of filming for a Netflix series called Heart of Invictus.

The Invictus Games was where Harry and Meghan chose to make their first public appearance together almost five years ago.

Meghan attended the Invictus Games opening ceremony in Toronto, Canada, on September 24, 2017, but she sat about 18 seats apart from Harry.

The following day, the pair emerged hand in hand to make their first official public appearance together at the wheelchair tennis.

Harry founded the games to aid the rehabilitation of injured or sick military personnel and veterans from around the globe, giving them the challenge of competing in sporting events similar to the Paralympics.