Prince William personally invited Harry and Meghan for Windsor walkabout

Prince William personally invited Harry and Meghan to join them for the Windsor walkabout, it has been revealed. The Prince and Princess of Wales joined Prince Harry and Meghan Markle to view some of the tributes left at Windsor Castle following the death of the Queen. Relations have been strained between the two sons of Britain's new king after Harry and Meghan moved to the United States and the four had not been seen so closely together since.

William's spokesman said he had invited Harry and Meghan, officially known as the Duke and Duchess of Sussex, to join him and Kate as they examined the flowers and spoke to crowds lining the entrance to Windsor Castle.

'Queen Elizabeth II meant so much to many different people - we all lost something'Prince William personally invited Harry and Meghan for Windsor walkaboutPrince William personally invited Harry and Meghan for Windsor walkabout (Steve Reigate)

The sight of the two couples together will raise hopes that relations have improved following the death of Britain's longest-reigning monarch. William was heard telling one well-wisher that the days following the queen's death had been "so surreal". "We all thought she was invincible," he said.

The Sussexes arrived holding hands and continued to do so at various stages of the proceedings.

There have been countless reports of a fallout between the brothersThere have been countless reports of a fallout between the brothers (REUTERS)

All four royals bent down to look at some of the many tributes left in front of the gates. Meghan and Harry were seen chatting, but they kept a slight distance away from William and Kate. At one point, William crouched down to read some of the messages that had been left on the cards.

Kate thanks crowds gathered to pay their respectsKate thanks crowds gathered to pay their respects (TV GRABS)

Meghan rubbed Harry's back reassuringly before linking arms with him as they looked at more of the flowers.

At the end, the brothers got close and started talking to one another as they walked to greet some of the wellwishers.

But they went separate ways and went to speak to people on different sides of the road.

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