Harry, Meghan and their two children, Prince Archie and Princess Lilibet, met with the king and Queen Camilla at Highgrove House, a country estate west of London, Buckingham Palace confirmed.
The Duke of Sussex had arrived in his homeland on Monday for a number of charity events that were overshadowed by speculation of whether he would meet with his father.
British tabloids and news broadcasts were filled with speculation about whether Meghan, Duchess of Sussex, would accompany him and, more importantly, whether they would bring their two children so they can finally get to know their grandfather.
However, the monarch's schedule is often years in the making, with events pencilled in long before they take place. An opportunity to hold such a meeting would have been fleeting.
The wish to seize the moment fuelled tensions between Harry and royal officials earlier this week. That was highlighted by embarrassing scenes when royal officials first invited Harry to stay at Buckingham Palace, then rescinded the offer after the prince didn't accept it in a timely manner.
Harry's visit also coincided with him losing his final lawsuit in his quest to tame the British tabloids. A judge ruled that he failed to prove his privacy invasion claims against the publisher of the Daily Mail.
His legal battles have been a source of friction with his family. Harry has said he wants to reconcile with his 77-year-old father, who is being treated for an undisclosed form of cancer.
Harry and Charles met briefly for a cup of tea in September during a short visit in London, the first time they'd seen each other in well over a year.
But the prince has also wanted his children to see the monarch, whom they first met during celebrations for the late Queen Elizabeth II's Platinum Jubilee in 2022.
The royal children, Archie, 7, and Lilibet, 5, are now old enough to remember meeting their grandfather. The event was deemed private and no images will be publicly released.
Tensions within the House of Windsor have heightened ever since Harry and Meghan gave up their royal duties and moved to California to pursue lucrative media deals, free from the pressures of royal life in London.
They reached a new low after Harry published an explosive memoir that included unflattering depictions of the royal family and damning allegations of a toxic relationship between the monarchy and the press.
Harry's description of royals leaking information about other family members in exchange for positive coverage of themselves is just one of the tawdry allegations in his book, "Spare." The prince was especially scathing about Camilla, accusing her of feeding private conversations to the media as she sought to rehabilitate her image after her longtime affair with Charles when he was heir to the throne.
After losing a court battle over his security issue last year, Harry said he hoped to rebuild relations with his family, even as he suggested that the royals had sought to prevent him from receiving police protection to punish him for walking away from royal duties.
"I would love reconciliation with my family. There's no point in continuing to fight anymore," Harry told the BBC. "I don't know how much longer my father has."
with PA and AP
