Harry opened up about his wish for his two children while at the Invictus Games over the weekend.
The service was held at St George's Chapel at Windsor Castle.
Queen Elizabeth will not be joining the rest of the royal family at church for Easter.
The Duke and Duchess of Sussex made their debut as a couple at the 2017 games in Toronto.
Prince George and Princess Charlotte accompany parents Prince William and Kate Middleton to Prince Philip's memorial service.
The 40-year-old Duchess of Cambridge rocked a series of vibrant looks for the tour with her husband, Prince William.
The royal and his wife, Kate Middleton, recently returned from their eight-day tour of Belize, Jamaica, and the Bahamas.
The 95-year-old British monarch has been keeping a low profile in recent months due to a series of health setbacks.
'While relationships remain complicated between the once inseparable brothers, there is still a rift,' a source tells ET.
The Duke and Duchess of Cambridge are continuing to face criticism as they carry on their royal tour through the Caribbean.
'It should never have happened,' the Duke of Cambridge said.
The actress-turned-royal is adding podcast host to her resume with new series, 'Archetypes.'
The Duchess of Cambridge attended a dinner hosted by the Governor General of Jamaica alongside her husband, Prince William.
The royal couple visited Jamaica as a part of their tour of the Caribbean in honor of Queen Elizabeth's Platinum Jubilee.
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