Meghan Markle and Prince Harry arrived at a church in Windsor after accepting an invitation from the Queen.
The monarch, 93, asked the the couple to join her at The Royal Chapel of All Saints in Windsor on Sunday morning.
The Duke and Duchess of Sussex will officially step back from royal duties following engagements for Commonwealth Day.
“It was a really sweet gesture that the Queen asked them to church,” a source told PEOPLE.
“It’s telling in the sense that these two are still her family. And as a family, they all love each other.”
The Queen wore sunglasses and a pale blue outfit as she was seen arriving at the venue.
Meghan and Harry looked happy and relaxed as they were escorted to the church.
The Queen has previously said: “Harry, Meghan and Archie will always be much loved members of my family.
“I recognise the challenges they have experienced as a result of intense scrutiny over the last two years and support their wish for a more independent life.
"I want to thank them for all their dedicated work across this country, the Commonwealth and beyond, and am particularly proud of how Meghan has so quickly become one of the family.
"It is my whole family’s hope that today’s agreement allows them to start building a happy and peaceful new life.”
Yesterday, Meghan Markle urged schoolchildren to "stand up for your rights" during a speech at Robert Clack Upper School in Dagenham, east London.
Her comments have been seen as a signal to the Palace as they echo her own battle to quit the Royal Family.
Royal expert Phil Dampier, who wrote a book about the couple, told the Sun that Meghan's speech was a "clear signal she felt she was standing up for herself when she quit the Royal Family".
Meghan, 38, delivered the speech to mark International Women's Day and met one of the women who fought an historic equal pay battle in the nearby Ford car plant.
Addressing the audience of 700 pupils, she said: "No matter how low you may feel on the ladder or the totem pole…you certainly have the right to speak up for what is right."
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