The Duke and Duchess of Sussex were transported by two children in small cars to the Invitation Games in the Netherlands.
The couple made theirs first public appearance in Europe because resigning as members of the royal family more than two years ago when they attended a party during the games on Friday.
Harry and Megane he jumped into a two-vehicle Land Rover driven by two girls before the opening ceremony of the event in The Hague on Saturday.
Harry established Invitation Games to help rehabilitate injured or sick service participants and veterans around the world, giving them the opportunity to compete in sporting events similar to the Games for the Disabled.
The couple arrived at Zuiderpark during lunch and seemed calm and relaxed as they talked to people.
They both wore sunglasses and met the children on the sidewalk near the main driveway and sat in the passenger area next to their young drivers.
Meghan was driven by a five-year-old French girl, Mya Poirot, while Harry was driven by a four-year-old Dutch girl, Scarlet Vroegop.
Duke also participated in the Jaguar Land Rover Driving Challenge, sitting in the front passenger seat and helping to move the stream of bridge structures, ramps and rocks.
Before Friday, the couple had not been seen publicly in this Atlantic side together since 2020.
Harry and Meghan chose to appear in public for the first time at the Invitation Games about five years ago.
He and Meghan moved to California after resigning from her royal post in January 2020.
Their appearance in Zuiderpark came after visiting the queen in Windsor on Thursday, after flying from the United States.
Harry and Meghan’s trips to the UK and the Netherlands come after the couple were absent from a memorial service for the Duke of Edinburgh in London last month.
The couple is expected to speak at the opening ceremony on Saturday evening and address the public at a televised event featuring members of the Dutch royal family and the country’s prime minister.
The festival will feature live performances from action including Kaiser Chiefs.