Image copyright Reuters

The Duke and Duchess of Cambridge and the Duke and Duchess of Sussex have reunited for the Royal British Legion's annual Festival of Remembrance.

They joined the Queen and other members of the Royal Family at the Royal Albert Hall to commemorate those who lost their lives in conflicts.

It is their first appearance as a group since Harry and Meghan said they were struggling with public life.

The annual event is also being attended by servicemen and women.

It comes ahead of the Remembrance Day service at the Cenotaph in central London on Sunday, which will also be attended by senior members of the Royal Family.

Image copyright Getty Images Image caption The Duke and Duchess of Cambridge joined Prince Harry and Meghan in the royal box

Saturday's event marks 75 years since notable battles of 1944, including Monte Cassino, Kohima and Imphal, D-Day and the collaboration of Commonwealth and Allied forces.

It also celebrates the 100th anniversary of the Government Communications Headquarters (GCHQ) and pays tribute to the RFA Mounts Bay, which delivered supplies and aid to the Bahamas after Hurricane Dorian this year.

Prime Minister Boris Johnson and his girlfriend Carrie Symonds joined other members of the Royal Family in the royal box.

Image copyright Getty Images Image caption Prince Harry and Meghan sat behind the prime minister and his girlfriend Carrie Symonds (foreground)

Image copyright Getty Images Image caption Those in the royal box included (L-R) the Duchess of Cambridge, the Duke of Cambridge, Prince Edward, the Countess of Wessex, the Queen, the Duchess of Gloucester, Vice Admiral Sir Tim Laurence, Prince Charles, Princess Anne and the Duchess of Cornwall

The Duchess of Cornwall was also present, after she was forced to pull out of engagements earlier in the week due to ill health.

Image copyright Reuters Image caption Prince Charles and the Duchess of Cornwall made an appearance

The service at the Royal Albert Hall was also attended by the Duke of York, the Earl and Countess of Wessex, the Princess Royal, the Duke and Duchess of Gloucester, the Duke of Kent and Vice Admiral Sir Tim Laurence.

Image copyright Getty Images Image caption Prince Andrew chatted to Boris Johnson during the ceremony

Image copyright Reuters

In interviews in October, the Sussexes both said they were struggling with the intense scrutiny from elements of the British tabloid press.

Prince Harry, 35, described his mental health and the way he deals with the pressures of his life as a matter of "constant management".

And Meghan, 38, said in an ITV documentary that adjusting to royal life had been "hard".

Image copyright Getty Images

Prince Harry also responded to reports of a rift between him and his brother William by saying they were on "different paths" and have "good days" and "bad days".

Following the documentary, a Kensington Palace source played down suggestions that the Duke of Cambridge was "furious" with his brother about the interview, saying he was "worried" and hoped the couple "are all right".

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