The two couples were joined by over 50 royal family members for lunch at the Palace, including Prince Charles, Camilla, Duchess of Cornwall, Princess Eugene, Princess Beatrice and Zara and Mark Tindall.
Harry was seen at the wheel of a large Land Rover, with Meghan sitting comfortably in the passenger seat.
This is the first time Meghan would have had lunch with the entire royal family, no doubt a daunting experience for the former Suits actress.
Last week, the Queen took her and Harry to a private party for staffers at Windsor Castle.
'It was a good opportunity for her to get to know the close part of the family as it were,' a family friend told PEOPLE.
Meghan is also set to join the royal family for festivities at the Queen’s Sandringham estate on Christmas Day, making her the first royal fiancé to spend Christmas with the royal family.
For everything you need to know about the royal wedding, see here.