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Prince Harry and his wife Meghan will attend next month's Platinum Jubilee celebrations with both their children.
She has also not seen the couple's firstborn, Archie Harrison - who turns three today - in two years.
A spokesperson for the couple said: "Prince Harry and Meghan, The Duke and Duchess of Sussex, are excited and honoured to attend The Queen's Platinum Jubilee celebrations this June with their children."
It comes as Buckingham Palace announced the couple will not be invited onto the royal balcony for the Trooping the Colour.
The confirmation ends speculation about which members will be present for that jubilee moment, with just working royals to stand alongside the monarch.
However, a palace source said that - despite the snub - the Sussexes are "much-loved members of the family" and have been invited to other jubilee events.
Prince Andrew, who was stripped of his military titles due to sex abuse allegations against him will also not be present on the balcony.
Prince Harry and Meghan saw the Queen last month for the first time in two years, on their way to the Invictus Games in the Netherlands.
Prior to that, the couple had not been back to the UK since they quit as senior working royals in January 2020.
Back in March, the duke and duchess were notably absent from a memorial service held for his grandfather, Prince Philip.
Their daughter, Lilibet Diana, is named after the nickname given to the Queen when she was a child.
There are conflicting reports about how or when they made Harry's grandmother aware of the choice of name, and whether they asked for her permission first or just told her that they had decided to use Lilibet.
Queen Elizabeth is the first British monarch to reign for 70 years.
It is still not clear when the Queen will be seen throughout the weekend - with her presence to be confirmed nearer the time as she struggles with her mobility.