Queen Elizabeth first met her great-granddaughter Lilibet at Windsor Castle.
The 96-year-old monarch met her 11-month-old granddaughter, the youngest son of the Duke and Duchess of Sussex, in Windsor after the royal family attended Trooping the Color, the Daily Mail reports.
The Duke and Duchess, who also have a three-year-old son named Archie, have returned to the UK for the Queen’s Platinum Jubilee celebrations.
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The couple, who got married in 2018, are based in California after they stopped being members of the royal family in early 2020.
At the time, they said in a statement: “We intend to take a step back as” great “members of the royal family and work to become financially independent, while continuing to support Her Majesty the Queen.”
The Duke and Duchess also attended the jubilee service at St. Paul’s Cathedral on Friday.
However, the monarch was absent from service after suffering discomfort while watching a parade at Buckingham Palace.
The Queen watched a military parade and greeted supporters gathered at The Mall, but later withdrew from service at St Paul’s.
In May, the queen also missed the state opening of parliament.
The monarch has suffered from mobility problems in recent months and Prince Charles has taken responsibility.
A spokesman for Buckingham Palace said at the time: “The Queen continues to experience episodic mobility problems and, in consultation with her doctors, has reluctantly decided not to attend the state opening of parliament.”
A Downing Street spokesman, meanwhile, said: “The Prime Minister fully respects Her Majesty’s wishes and is grateful to the Prince of Wales for agreeing to deliver the speech on his behalf.”