Royals Meghan Markle and Prince Harry Arrive at Invictus Games Opening Ceremony Hand-in-Hand The Duke and Duchess of Sussex kicked off the Invictus Games after the COVID-19 pandemic delayed the event for two years By Stephanie Petit Stephanie Petit Stephanie Petit is a Royals Writer and Reporter at PEOPLE. People Editorial Guidelines Published on April 16, 2022 01:30 PM Share Tweet Pin Email Meghan Markle and Prince Harry. Photo: Samir Hussein/WireImage After two years of delays, Meghan Markle and Prince Harry are finally kicking off the Invictus Games in The Hague! Although the Invictus Games hosted in the Netherlands was originally scheduled for 2020, the Paralympic-style event was delayed until 2021 and then again to 2022 due to the COVID-19 pandemic. But Harry, 37, and Meghan, 40, were beaming at the opening ceremony on Saturday night. For their arrival on the yellow carpet, Prince Harry wore a grey suit sans ties for the event, while Meghan sported an off-the-shoulder white top and black trousers. All of Meghan Markle and Prince Harry's Invictus Games Moments — Including Their First Outing as a Couple! Meghan Markle and Prince Harry. Karwai Tang/WireImage Prince Harry and Meghan attended a welcome reception for athletes on Friday night before watching the Jaguar Land Rover Driving Challenge on Saturday ahead of the opening ceremony. The couple even got in on the action, with Prince Harry joining a team to take on a driving obstacle course. Later, Meghan and Harry jumped in mini kiddie cars, taking the passenger seats as young drivers took the wheel around a course. Meghan previously joined Prince Harry at the 2017 Invictus Games in Toronto (her adopted hometown, where she lived while starring on Suits), where they made their official public debut as a couple. She was by his side again in 2018 for the Sydney Games, shortly after the couple announced they were expecting their first child, son Archie Harrison. Meghan Markle and Prince Harry. Lukas Schulze/Getty Can't get enough of PEOPLE's Royals coverage? Sign up for our free Royals newsletter to get the latest updates on Kate Middleton, Meghan Markle and more! In 2014, Harry — who served a decade in the British army and two tours in Afghanistan — was inspired to establish the Invictus Games, a Paralympic-style competitive event showing the unconquerable spirit of wounded, ill and injured servicemen and women. The Invictus Games have previously been held in London in 2014, Orlando in 2016, Toronto in 2017 and Sydney in 2018. They will next take place in Düsseldorf, Germany, in 2023. Before they met, both Meghan and Harry shared a commitment to supporting the troops. In addition to the Invictus Games, Harry has inspired veterans with the Walking with the Wounded charity and the Endeavour Fund. Meghan, meanwhile, traveled to Afghanistan in December 2014 on a USO tour.