Meghan MarkleandPrince Harrytraveled from California to the U.K. for Queen Elizabeth’s Platinum Jubilee celebrations, but they did not publicly spend time with Harry’s immediate family members.

On Friday, the royal family continued the Platinum Jubilee celebrations with aservice of thanksgiving honoring Queen Elizabeth at St. Paul’s Cathedral. Harry and Meghan — who shared the strain they’d experienced within the family in a 2021interview with Oprah Winfrey— arrived ahead of Prince Charles, Camilla, Duchess of Cornwall, Prince William and Kate Middleton. It was the first time the three couples have appeared together in public in more than two years.

Meghan Markle and Prince Harry.Karwai Tang/WireImage

Meghan, Duchess of Sussex and Prince Harry, Duke of Sussex attend the National Service of Thanksgiving at St Paul’s Cathedral

Prince Charles at the service of thanksgiving for the Queen’s Jubilee on June 3.PHIL NOBLE/POOL/AFP via Getty Images

Prince Charles, Prince of Wales, (C) leaves at the end of the National Service of Thanksgiving for The Queen’s reign at Saint Paul’s Cathedral

In contrast, Charles, 73, was seen warmly greeting Kate, Duchess of Cambridge, 40, with a wide smile at the service and at one point blew her a kiss.

Prince Charles greets Kate Middleton, Duchess of Cambridge at the service of thanksgiving on June 3.Richard Pohle - WPA Pool/Getty Images

Prince William, Duke of Cambridge, and Catherine, Duchess of Cambridge talk with Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall after arriving at St Paul’s cathedral

There was also no interaction between the Sussexes and Cambridges as they left the service. Harry and Meghan chatted with Harry’s cousins Zara Tindall and Peter Phillips on the steps of St. Paul’s Cathedral before leaving.

Peter Phillips, Meghan Markle, Prince Harry and Zara Tindall at St. Paul’s Cathedral on June 3.PA Images / Alamy Stock Photo

Peter Phillips, the Duchess of Sussex, the Duke of Sussex and Zara Tindall leave the National Service of Thanksgiving at St Paul’s Cathedral

For more on the Queen’s Platinum Jubilee, listen below to our daily podcast PEOPLE Every Day.

On Thursday, Meghan and Harryjoined extended members of the royal family for Trooping the Colour. Since they are no longer senior working royals, they were not invited to appear on the balcony of Buckingham Palace or to take part in a carriage procession during the parade. Instead, they viewed the event alongside other extended members of the royal family from the Major General’s Office, which overlooks the Horse Guards Parade.

Anthony Harvey/Shutterstock

Camilla Duchess of Cornwall, Prince Charles, Queen Elizabeth II, Prince Louis, Catherine Duchess of Cambridge, Princess Charlotte, Prince George and Prince William Trooping The Colour - The Queen’s Birthday Parade

The couple were spotted a few times through the office’s windows,playfully entertaining various young royals— and also holding a finger over their mouth to encourage them to quiet down at points.

Meghan Markle with the royal children at Buckingham Palace for Trooping the Color on June 2.Kelvin Bruce

Meghan Markle with Savannah Phillips and Mia Tindall in the Major General’s office overlooking The Trooping of the Colour on Horse Guards Parade.

Meanwhile,Prince Harry’s fatherPrince Charlesand brotherPrince Williamparticipated in the parade on horseback before heading to the balcony appearance to watch a Royal Air Force flypast. Kate and Camilla, however, did spent a short time at the Major General’s Office to watch the Horse Guards Parade before making their carriage ride to Buckingham Palace to join the Queen and other senior royals on the balcony.

Prince Charles and Prince William at Trooping the Colour on June 2.Andrew Matthews/PA Images via Getty Images

The Prince of Wales takes part in the Royal Procession leaves Buckingham Palace for the Trooping the Colour

Thecomplex dynamic between William, 39, and Harry, 37,has had a ripple effect across the wider family — including, of course, Meghan and Harry’s decision to step back from senior royal duty and relocate with their family to California.

Prince William and Prince Harry at the unveiling of a Princess Diana statue in London on July 1, 2021.Alamy Stock Photo

The Duke of Cambridge and Duke of Sussex arrive for the unveiling of a statue they commissioned of their mother Diana, Princess of Wales

Some who know the brothers feel there were several issues that built upon one another, while one well-placed source previously told PEOPLE that the rift can’t be easily put down to one thing. But insiders have repeatedly noted that Harry’s special bond with his grandmotherQueen Elizabeth, 96, remains intact.

“I’m just making sure that she’s, you know, protected and got the right people around her,” he added. “You know, home — home for me, now, is you know, for the time being, is in the States.”

Queen Elizabeth and Prince Harry in 2019.Yui Mok/WPA Pool/Getty

Prince Harry, Duke of Sussex and Queen Elizabeth

Tomorrow, Meghan andPrince Harrywill celebrate the first birthday of their daughter Lilibet Diana, who was named after the Queen’s childhood nickname. Both Lili, as the couple call her, and their 3-year-old son Archie are believed to have made the trip to the U.K. with them.

Can’t get enough ofPEOPLE’s Royals coverage?Sign up for our free Royals newsletterto get the latest updates onKate Middleton,Meghan Markleand more!

The four-day celebration will wrap with the Platinum Jubilee Pageant on Sunday, featuring a parade down The Mall to Buckingham Palace in London.

source: people.com