Prince Harry and Meghan Markle arrive at first royal event since resignation as working royals to screaming cheers from the crowd

Prince Harry and Meghan Markle have arrived at their first official royal event since their resignation as senior working royals two years ago to loud cheers from the crowd.

The Duke and Duchess of Sussex arrived at St Paul's Cathedral in London for a Service of Thanksgiving to commemorate the Queen's Platinum Jubilee behind the Wessexes, Princess Beatrice and Princess Eugenie and their husbands. The Duke and Duchess of Cambridge arrived a few minutes later, just prior to Prince Charles and Camilla, Duchess of Cornwall.

Harry, 37, and Meghan, 40, were smiling and holding hands as they exited their car and walked up to the cathedral's doors, and remained holding hands as they walked down the aisle inside the church.

READ MORE: Royals reunite for Service of Thanksgiving at St Paul's Cathedral in the Queen's absence

Meghan is wearing a cream coat dress, which is cinched at the waist with a belt, and a white wide-brimmed hat, paired with earrings from Canadian brand Birks that she has previously worn to other major royal events and notably to celebrate Commonwealth Day.

In her hands, as she arrived at the cathedral, were a pair of white gloves.

Harry, who cannot wear his official military dress due to his status as a non-working royal, is wearing a morning suit.

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The Sussexes arrived to screaming cheers from the crowd, and as they drove to the cathedral, Harry waved to onlookers.

Inside St Paul's Cathedral, they held hands as they walked down the aisle to their seats.

Meghan wrapped her hands around Harry's back as he spoke with his cousins Beatrice and Eugenie, with whom the Sussexes are understood to be sitting. Prince Edward, his wife Sophie, Countess of Wessex, and their two children, Lady Louise Windsor and Viscount Severn, are sitting in front of the Sussexes.

It appears the Cambridges and the Princess Royal are sitting opposite to the Sussexes, to the right of the altar, while the Sussexes, Wessexes, and Beatrice and Eugenie sit to the left.

Her Majesty is not attending the Service of Thanksgiving as originally planned due to mobility issues.

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Meghan reunited with former royal employee

The Duchess of Sussex, at the Service of Thanksgiving, reunited with her former employee Samantha Cohen at St Paul's Cathedral.

Cohen worked as a private secretary for Meghan until October 2019.

At the time of Cohen's exit from the role, which was four months prior to the Sussexes' infamous royal resignation, the announcement read: "The Duke and Duchess of Sussex this afternoon received Ms Samantha Cohen upon relinquishing her appointment as Private Secretary to Their Royal Highnesses."

Prior to working for the Sussexes, Cohen served as private secretary to the Queen. Cohen transferred as an interim private secretary for the Sussexes while they were looking for a solution more permanent, and she joined the pair on their tour of Africa.

Notably, Cohen joined Meghan for her first-ever solo engagement with the Queen in Chester in June 2018.

After Cohen's departure from the role, she became co-chair at Cool Earth, a not-for-profit that works with First Nations communities to stop deforestation and climate change, a cause dear to the Duke and Duchess of Sussex, as well as the Duke of Cambridge.