Royals Prince Harry Shares Details About His Visit to See Grandmother Queen Elizabeth Ahead of Invictus Games Prince Harry and Meghan Markle made a pit stop in the U.K. before heading to the Netherlands for his Invictus Games By Stephanie Petit Stephanie Petit Stephanie Petit is a Royals Writer and Reporter at PEOPLE. People Editorial Guidelines and Phil Boucher Phil Boucher Phil Boucher is an editor at PEOPLE and based in London. People Editorial Guidelines Published on April 18, 2022 03:25 PM Share Tweet Pin Email Prince Harry says it was "great" to see his grandmother Queen Elizabeth. Harry and his wife Meghan Markle stopped in the U.K. for a visit with the monarch, 95, at Windsor Castle last week as the couple made their way to the Netherlands for the Invictus Games. One of the topics they discussed was the games, which Harry started in 2014. "She had plenty of messages for Team U.K., which I have already passed on to most of them," the Duke of Sussex told the BBC on Monday. "So, it was great to see her. I'm sure she would love to be here if she could." Prior to last week's visit, Meghan, 40, had not returned to Europe since March 2020, when she and Prince Harry, 37, carried out their final round of royal engagements before they officially stepped back as working royals at the end of that month. Queen Elizabeth and Prince Harry in 2019. Steve Parsons - WPA Pool/Getty Prince Harry has returned to the U.K. on two occasions: for his grandfather Prince Philip's funeral in April 2021 and again to unveil a statue of his late mother Princess Diana alongside older brother Prince William in July 2021. (In addition to the COVID-19 pandemic limiting travel, Meghan gave birth to their daughter Lilibet Diana — named after the Queen's childhood nickname and Harry's mother — in June.) Meghan Markle and Prince Harry's Son Archie Almost Had a Different First Name Queen Elizabeth, Meghan Markle and Prince Harry. Max Mumby/Indigo/Getty Images Prince Harry and Meghan kicked off the fifth Invictus Games, originally scheduled to take place in 2020 but delayed due to the COVID-19 pandemic, in The Hague on Friday with a welcome reception for athletes. The couple watched the Jaguar Land Rover Driving Challenge on Saturday, with Prince Harry even taking part in an obstacle course. Both Meghan and Harry also took the passenger seats in kiddie cars for a ride around a track. They attended the opening ceremony on Saturday evening before cheering teams on in various sports on Sunday. Meghan Markle and Prince Harry. Karwai Tang/WireImage 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! Meanwhile, Queen Elizabeth did not join the royal family at the Easter church service on Sunday. Prince Charles and Camilla, Duchess of Cornwall also took part in their first Royal Maundy Service without Queen Elizabeth after she regretfully couldn't attend the annual Easter tradition. Although Queen Elizabeth has continued to undertake light duties and hold virtual audiences from Windsor Castle, her public outings have grown increasingly rare amid a number of health setbacks. Late last month, she did appear in-person at a Service of Thanksgiving honoring her husband Prince Philip, nearly one year after his death at age 99.