Windsor Castle is the queen's official country residence in Berkshire in southern Britain.
Since departing for the United States in 2020, the royal couple hadn't returned for various reasons -- most notably Harry's concern for the security of his wife and children. The couple have two children, 2-year-old Archie and nine-month-old Lilibet. Harry sued earlier this year after a British government decision to cease paying for security during visits to Britain.
Queen Elizabeth II departs a celebration of the life of her husband Prince Philip
, who died in April 2021, at Westminster Abbey
in London, Britain, on March 29. The queen has been limited in her public duties since testing positive for COVID-19
earlier this year. Photo by Neil Hall/EPA-EFE
The couple's decision to withdraw from their royal life has caused serious divisions within the royal family.
"The Windsors are a fractured family, with hurt on all sides. A brief visit is a start, but not the resolution," royal commentator Peter Hunt said in a tweet.
"It's notable that Harry and William didn't attempt to meet up -- their relationship clearly remains profoundly damaged."
The visit is also the couple's first together to Britain since Prince Philip, Harry's grandfather, died a year ago. Harry attended the funeral last April, but Markle did not.