The visit marks their first trip back to England as a family since making their royal exit in January 2020.
Queen Elizabeth was accompanied by her first cousin the Duke of Kent.
After a year of celebrations held across the Commonwealth, the UK will enjoy a four-day bank holiday from June 2-5.
The Duke and Duchess of Sussex won't join Queen Elizabeth on the balcony of Buckingham Palace.
While Queen Elizabeth is set to meet Harry and Meghan's daughter, Prince William and Kate Middleton will be away on an engagement.
The Duke and Duchess of Sussex are expected to stay at their former residence while in the UK for the Queen's grand celebration.
Her Majesty's Platinum Jubilee celebration kicks off June 2 at Buckingham Palace.
Madame Tussauds London announced on Wednesday that Prince Harry and Meghan Markle’s wax figures re-joined the royal family’s room.
The 96-year-old monarch was driven around the gardens in a buggy amid her mobility issues.
The celebration will take place on June 4.
Her Majesty was hard to miss in her canary yellow outfit.
Queen Elizabeth made an appearance at the Royal Windsor Horse Show. It's her first outing since March, amid ongoing health issues.
Her Majesty's public appearance comes after she did not attend the State Opening of Parliament.
Queen Elizabeth didn't attend this year's Opening of Parliament due to 'episodic mobility problems.' It marks the first time she misses
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