The couple were later welcomed by fans who had lined the steps of the Sydney Opera House, where they boarded a boat for a sailing event hosted by Invictus Australia.
The couple met veteran Joel Vanderzwan at the harbour, who presented them with customised flip-flops featuring the messages ‘G’day Hazza’ and ‘G’day Megs’.
After accepting the gifts, Harry joked that he normally receives “budgie smugglers” from Invictus Australia.
The couple then headed out onto the water on a vessel designed to be wheelchair-accessible, so injured veterans could board.
In 2018, Prince Harry announced that Australia would host the Invictus Games during his royal tour, a competition he founded in 2014 for wounded military veterans.
It is the couple’s first trip to Australia since that 2018 tour.
Michael Hartung, chief executive of Invictus Australia, described Harry and Meghan’s return to Sydney Harbour as a “full-circle moment”.
The couple are no longer working royals and have been visiting the country in a private capacity.
