The meeting is the first time Charles and Camilla are known to have seen Meghan and their grandchildren, 7-year-old Archie and 5-year-old Lilibet, since 2022.
The king and queen hosted the Sussex family at Highgrove House, their family residence in Gloucestershire, England, according to the source.
Neither Buckingham Palace nor a spokesperson for the Sussexes have commented on the family meeting.
Harry, the youngest son of Charles and the late Princess Diana, has been in the U.K. this week for several charity-related engagements.
On Friday, prior to meeting with Charles and Camilla, Harry attended an event in Birmingham for the Invictus Games, which will be held in the city next July.
Ahead of the meeting, it had not been known publicly whether Meghan and the couple's children were in the U.K. this week with Harry, who has previously expressed hesitation about bringing his family to his home country due to safety concerns.
In May 2025, Harry lost an appeal challenging the British government's decision to reduce his publicly funded security after he and Meghan stepped back from their royal duties in 2020 and moved to California.
Since moving to California, where they continue to live full-time, the Sussexes have relied on a privately funded security team.
While Harry has made return visits to the U.K. since stepping away from his senior royal role, Meghan and their children are not known to have returned since 2022, when the family of four attended Platinum Jubilee celebrations in June for Harry's grandmother, the late Queen Elizabeth II.
Just a few months later, in September 2022, both Harry and Meghan returned to the U.K. for Elizabeth's funeral but did not bring Archie and Lilibet.
It is not known whether Harry and Meghan met with other royal family members during their most recent U.K. trip. It is also unknown where the Sussex family stayed during their visit or how long they will be in the U.K.
Harry's final charity engagement of this trip is scheduled for Saturday, when he'll meet with Scotty's Little Soldiers, an organization that helps children who have lost a parent in military service.