They were full of smiles as they interacted with crowds of people awaiting their arrival at Chichester in West Sussex.
The couple were greeted by the Lord Lieutenant of West Sussex, Susan Pyper, and mayor of Chichester Martyn Bell.
They saw a rare Sussex copy of the American Declaration of Independence in Chichester.
Harry then went on to high five several of the kids after they admitted that they had all skipped latin class in order to come out and greet the Duke and Duchess.
Meghan greeted one child who was held up to the barriers, while Harry patted the head of a baby.
Afterwards Kara said: "When Meghan came over everyone rushed forward and I got pushed over". As Sleep reached out to shake his hand she told the Duke, "I'm not letting go".
Meghan looked radiant for her day out, stunning in a green blouse, green leather skirt by Hugo Boss and cream coat by Armani.
The royal was heard joking with wife Meghan Markle that they should visit during today's tour of the University of Chichester in Bognor Regis.
The pair donned donned safety goggles to watch an experiment in one of the laboratories then listened to the student chamber orchestra play a piece from Vivaldi's Four Seasons while technology students practised filming and recording the performance in the state-of-the-art sound stage.
Harry kept his cool in an understated pale grey suit which he dressed down by wearing his shirt open and opting not to wear a tie.
They will visit Survivors' Network, a charity that supports survivors of rape and sexual assault.