Prince Harry and Meghan's son, Archie, meets his uncle and aunt, Prince William and Kate

Archie Harrison Mountbatten-Windsor was born on May 6.

The visit took place after Archie's father, Prince Harry, returned from a day of official engagements in Oxford, according to ABC News royal contributor Victoria Murphy.

Prince William and Kate live at Kensington Palace, about 25 miles from Harry and Meghan's home in Windsor.

William and Kate are the parents of Archie's three cousins, Prince George, Princess Charlotte and Prince Louis.

Archie was introduced to his great-grandparents, Queen Elizabeth II and Philip, the Duke of Edinburgh, last week, on the same day Harry and Meghan announced his name and posed with him in photos.

Both Prince William and Kate had official engagements earlier in the day.