sent a car and a security detail to collect Harry, Meghan, Archie and Lilibet after their private jet landed in the United Kingdom from on Wednesday, ahead of her Platinum Jubilee celebrations.
In the latest sign that hostilities between the Firm and the Sussexes are thawing, Her Majesty's Land Rover greeted the family and their children at Farnborough Airport in Hampshire before taking them to Frogmore Cottage.
The Sussexes left Santa Barbara airport with their children Archie and Lilibet, and their arrival marks Lilibet's first time in the country, ahead of today's Trooping the Colour — the first of the events. For Lilibet - who turns one on Saturday - it will be the first time she has met her great-grandmother.
Their arrival comes just months after Harry claimed he was 'unable to return home' because is too dangerous.
An insider told that 'the Queen believed it was the right thing to do' to send her car to meet her grandson and his family.
The couple's Embraer private jet landing at Farnborough, and the Queen's black Land Rover - escorted by a Volkswagen people carrier - driving onto the tarmac.
The Sun reported that the family were believed to have got into the blacked-out VW car, and that they travelled without their customary entourage or senior staff working for their Archewell charity.
It also said Netflix camera crews - who have been following the couple for an £11million documentary - stayed behind.
Harry, Meghan and their two children were not given a police escort for the 40-minutes drive from Farnborough to Windsor, pictures in The Sun suggested.
On June 4, their daughter Lilibet will be marking her first birthday.
The Queen is likely to miss her favourite sporting event, the Derby horse races at Epsom, for the little one's celebrations, as she meets her for the first time.
While the couple are expected to attend Trooping the Colour as spectators on Thursday, Prince Andrew will not, a military source told MailOnline.
As colonel of the Grenadier Guards, Andrew has previously played a key role in the ceremony, riding out by the Queen's side as the regiment's representative.
Since being stripped of the title earlier this year the Duke of York was not expected to play an active part in the event, but the possibility of him appearing with other royals on Horse Guards Parade as a spectator had previously been left open.
Both Andrew and the Sussexes have already been barred from appearing on the Buckingham Palace to watch the RAF Red Arrows' flypast.
As Britain prepares for the Platinum Jubilee weekend:
Plucky Brits vow to celebrate Queen's Platinum Jubilee with street parties, four days of celebrations and miles of bunting despite councils, gloomy forecast and advice to party indoors threatening to dampen mood; Security experts said Harry and Meghan may hold up inside Frogmore Cottage over the bank holiday and only leave to attend two Platinum Jubilee events because they are being denied VIP 24/7 armed protection from British police;The Queen was caught in mid-air drama as a thunderstorm forced her private jet to abort its landing in London and circle over the capital for 15 minutes;Princess Eugenie paid a moving personal tribute to her 'grannie' the Queen on the eve of the monarch's historic Platinum Jubilee celebrations; Prince Harry , Meghan Markle and their children have arrived in the UK, marking daughter Lilibet's first time in the country, ahead of today's Trooping the Colour
The family of four landed in a London airport this afternoon, with a small team of staffers, Page Six reported
The Sussexes left Santa Barbara airport with their children Archie and Lilibet, and their arrival marks Lilibet's first time in the country, ahead of today's Trooping the Colour.
Pictured: The Sussexes board a plane in 2018 (file photo)
Prince William, Duke of Cambridge, Colonel of the Irish Guards leads The Colonel's Review at Horse Guards Parade on May 28, 2022 in London, England
The Sussexes are expected to stay at Frogmore Cottage, where they will hold a small party for Lilibet's first birthday that may be attended by the Queen
Prince Andrew is not expected to attend Trooping the Colour after being snubbed for the most important military event of the Queen's Platinum Jubilee, MailOnline can reveal
As colonel of the Grenadier Guards, Andrew has previously played a key role in the ceremony, riding out by the Queen's side as the regiment's representative - pictured at Trooping the Colour in 2019
Harry and Meghan, along with her mother Doria Ragland, introduce Archie to the Queen and Prince Philip in May 2019.
Similar scenes are expected in the coming days when Her Majesty meets Lilibet
It came as security experts predicted the Sussexes may hold up inside Frogmore Cottage over the bank holiday and only leave to attend two Platinum Jubilee events because they are being denied VIP 24/7 armed protection from British police.
After a secret visit to see at Windsor Castle in late April, the sixth in the line to the throne has received 'cast iron assurances' that he, Meghan, Archie and Lilibet will be protected during the Platinum Jubilee celebrations that begin today and end on Sunday. It is only the second time Meghan has returned to the UK after they sensationally quit their royal roles in 2020.
Simon Morgan, a former royal protection officer, told MailOnline on Wednesday that Harry would have no way of influencing the decision made by MI5, the and the Foreign Office, even if he put pressure on his grandmother to intervene.
As a result they may be forced to keep a 'low profile' during their stay and not organise their own events.
Mr Morgan, who now runs the security business Trojan Consultancy, said: 'If they are staying at Frogmore Cottage they are going to be extremely secure there and that may be why they are not doing anything away from the main Platinum Jubilee events because they will not have protection for that'.
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The couple are expected to attend the Service of Thanksgiving with the Queen at St Paul's Cathedral on Friday morning - as well as the BBC's Party at the Palace the following evening. Simon Morgan expects they will be given armed protection at these events, and on the journey to and from Windsor due to the security operation planned for the jubilee.
'The jubilee is one of the highest risk events for years - and the Met have a duty of care to protect those attending, especially the royal family and foreign dignitaries', Mr Morgan said.
British officers will stand guard at Frogmore Cottage, where they will be protected 24/7.
But this will not extend to private events such as socialising with friends at restaurants and pubs or going to the shops off the Queen's Windsor Castle estate.
The Duke and are thought to be travelling without any senior staff and just a small security team, having left their most trusted workers back home in California, according to people with knowledge of their travel plans.
Their bodyguards, which have included those responsible for the security of Barack Obama and Michael Jackson, will not be able to carry guns in the UK and the Metropolitan Police will have primacy on security matters as soon as they step off the plane.
The Met's Royalty and Specialist Protection unit is understood to have spent weeks liaising with Harry's team to guarantee taxpayer-funded officers look after them as much as is allowed, reports.
Lilibet will turn one on Saturday, with a party expected at Frogmore likely to be attended by royals such as Princess Eugenie, who is close to Harry and Meghan, and the Queen could also pop in if she doesn't attend the Epsom Derby.
It will be the first time the monarch will meet the great-granddaughter named after her.
But Prince William and Kate will not be there because they will be representing Her Majesty in Cardiff as senior working royals are sent to Wales, Scotland and Northern Ireland to mark the monarch's 70 years on the throne.
Harry and Meghan are expected to attend the Service of Thanksgiving with the Queen at St Paul's Cathedral on Friday morning - as well as the BBC's Party at the Palace the following evening, the report claimed.
But the sources added that the Sussexes will not conduct their own programme of events while in Britain to avoid overshadowing the four-day weekend of celebrations for the 70-year reign of Harry's 96-year-old grandmother.
This suggests that they may stay in the grounds of Windsor Castle, where they will be protected by armed police at all times.
But this will not extend to while they are out at private jet estimate events such as socialising with friends at restaurants and pubs or going to the shops.
The UK's stance is in contrast with the couple's treatment at the Invictus Games in Holland in April, where they were afforded VVIP status.
A former US presidential secret service agent was assigned to lead close protection for the couple and armed protection officers who usually guard the King of the Netherlands provided security outside of the venue.
A Land Rover with two other private security guards drove with Harry and Meghan's vehicle, with an unmarked car containing two members of the Dutch Royal protection squad.
Security experts including Mr Morgan said at the time they 'couldn't fathom' why Harry felt safe in Holland but not in the UK.
Harry, 37, is taking legal action against the Home Office after being stripped of permanent police protection after quitting as a frontline royal.
Harry has since claimed he does not feel safe under these security arrangements when bringing his family to the UK and was 'unable to return home' over fears it is too dangerous. He had even offered to pay for British police bodyguards himself - but the Met said that their officers cannot be paid for.
Harry and Meghan pictured with son Archie, three, and daughter Lilibet, who will turn one this weekend
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Sources told The Mirror that he has always been 'in favour' of returning to the UK for the Queen's celebrations, despite the Met insisting its officers are not 'guns for hire'.
At their US home, Harry and Meghan are protected by a 24-hour security team, including 12 former special forces personnel.
A source said: 'For Harry, this has always been about protecting his family.
'He has been in constant contact with the relevant parties and made it very clear that he wouldn't travel without receiving cast iron assurances over the safety of his family.
'He is satisfied the right procedures are in place and they are all very much looking forward to this week's celebrations and of course getting to spend time with Her Majesty.'
It comes after the couple met the monarch in a brief secret meeting with Prince Charles before they flew out to the Invictus Games in the Netherlands earlier this month.
At the meeting, Harry and Meghan promised they would introduce the Queen to Lilibet, who is named after her.
With the Queen expected to pace herself over the four-day bank holiday weekend, extended so the nation can celebrate the jubilee, there is speculation she will not travel to Epsom racecourse for the Derby on Saturday as she does not have a runner, although another of her thoroughbreds is entered in a race.
The day could be the perfect opportunity for the royal family to gather to celebrate the christening of Lilibet at Windsor Castle on the child's first birthday.
A Buckingham Palace spokesman declined to comment on the reports and said: 'Frogmore Cottage remains the UK home of the Duke and Duchess of Sussex.'
The Mail revealed on Saturday that the Queen is set to spend time with the family on Saturday to celebrate Lilibet's birthday.
She has never met her great-granddaughter and not seen Archie in person since he was a baby and taken by his parents to Canada and then the US.
There has also been speculation that the couple may try to get Lilibet christened while they are here in the private chapel at Windsor Castle, where Archie was also christened in 2019.
And earlier this week, he shared a post praising the Duke on Instagram, writing: 'What a joy to see you smile and be so happy.
I love being your teammate.'
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The Queen arriving back in Windsor after a short break at Balmoral ahead of the Platinum Jubilee celebrations
Meanwhile, With just one day before the start of the special bank holiday weekend to mark Her Majesty's astonishing 70 years on the throne, the UK has gone 'Jubilee-mad' as people drape their gardens in Union flags and even knit life-sized figures of the beloved monarch.
A record 12million people are gearing up for outdoor parties held in the Queen's honour, in scenes sure to be reminiscent of the Coronation seven decades ago.
And crowds of royal 'superfans' have already been lining The Mall near to get the best views for Trooping the Colour on Thursday and a special Pageant celebrating the life of the nation's longest-reigning monarch on Sunday.
Forecasters are expecting glorious sunshine on Thursday, Friday and Saturday, but showers in and the South East on Sunday.
However, the excitement is so palpable that plucky Britons are shrugging off fears of downpours, and are instead preparing to throw their parties in their garages if the rain pours.
And people are ignoring council spoilsports who are threatening OAPs with punitive fines if they dare hang patriotic bunting across their streets, after Prime Minister urged local authorities to calm down and approve 11th hour requests for street parties. Just 16,000 applications to close roads for parties have been approved across the country, and unofficial Jubilee street bashes could be broken up by police if they block traffic.
Meanwhile the royal household will be making final preparations for the four-day bonanza.
The Queen, who enjoyed a pre-Jubilee break in Balmoral ahead of the weekend, has arrived at Windsor and is expected to delight crowds with an appearance on the Buckingham Palace balcony - at the start of celebrations after Trooping the Colour on Thursday.
It is also expected that she will appear again on the balcony after the Pageant parade finale on Sunday.
The 96-year-old monarch is also hoping to be able attend the service of thanksgiving at St Paul's Cathedral on Friday, with her wider family including - it is expected - Prince Harry and , and the Duke of York.
However, is not expected to attend Trooping the Colour after being snubbed for the most important military event of the Jubilee.
Phil Smith said there were a 'dozen or so Queens dotted about' (including this one, left) including several likenesses of the singer Prince
<div class="art-ins mol-factbox news halfRHS" data-version="2" id="mol-f538c980-e1c1-11ec-b16f-13fc8371f858" website sends car and security to pick up Harry, Meghan and children