It is believed that Archie, seven, and Lilibet, five, would also have enjoyed getting to know their grandfather, with relationships such as these being very important for children.

Talking about the reunion, Supernanny Jo Frost exclusively told The Daily Express that it is good the meeting took place, as children should never “pay the price” for adult conflicts.

Jo Frost, global family expert and childcare specialist, said: “As a professional who has spent four decades working with families, these connections aren't just lovely moments, they can contribute to a child's emotional resilience, confidence and overall wellbeing.

“My hope is that this meeting marks the beginning of an opportunity for those bonds to continue to grow.”

She continued: “I hope all of the adults involved will continue making every effort to put the children's needs first, because children should never carry the weight of adult conflict or be asked to pay the price for it.

“They deserve the freedom to love the important people in their lives and to build those relationships without unnecessary barriers and when as such everyone has the opportunity to gain something truly precious and that is a gift every child deserves.”

It is believed this is because Harry has always felt like without armed police protection, the UK is unsafe for his wife and children.

While the duke did not get armed police protection on this UK visit, which resulted in the family changing plans and not all arriving in London together, he did sort out a private enhanced security package for his family to allow them to make the trip to the UK.