The large crowd roared as the royals waved on during the Trooping of the Colour on the Queen's official birthday.
Prince Philip, the Duke of Edinburgh, did not take part today, in line with his retirement from public life previous year.
The pair were spotted looking lovingly at each other while the Queen made her way into the palace.
Both Meghan Markle and Camilla, Duchess of Cornwall wore hats by the Irish designer. Meghan has become particularly close to her father-in-law, who walked her down the aisle and was instrumental in helping Meghan and Harry with wedding planning.
Meghan looked stunning in a blush dress by Venezuelan designer Carolina Herrera, which was paired with a flat-brimmed hat in the same shade.
Instagram princesseugenieShe shared the snap ahead of Father's Day this weekend reportedly very close to her father
The ceremony culminates with a magnificent balcony appearance by the Royal Family.
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. Meghan and Harry have stated their desire to jump right in and get to work in their new roles. "They will go on, and good luck to them, long after we are a republic".
The couple, who received the titles the Duke and Duchess of Sussex when they married last month, are closely associated with the games, a sports competition for wounded and sick serving or veteran military personnel founded by Harry in 2014.
All four countries on the tour are members of the Commonwealth, the 53-nation grouping for which Harry is a youth ambassador.