Prince Harry and King Charles have reunited.

It marks the first time that the father and son have met in person since February 2024, days after King Charles, 76, revealed he was being treated for an undisclosed cancer.

Prince Harry, 40, was seen arriving by car at Clarence House, the King’s London residence, around 5:20 p.m. local time on Sept. 10. He was inside for about 55 minutes before departing.

Following the meeting, Buckingham Palace confirmed that the King had a private tea at Clarence House with the Duke of Sussex and said no further details would be shared.

A spokesperson for Prince Harry echoed the same, reiterating that father and son met for tea and that there would be no additional comment.

The Duke of Sussex returned to the U.K. on Sept. 8 to support some of his key charities and causes. After arriving in his home country and paying tribute to Queen Elizabeth on the third anniversary of her death on Sept. 8, Harry attended the WellChild Awards. The following day, he traveled to Nottingham, England — about 130 miles north of London — to highlight the work being done for young people there.

The father and son were both in London on Wednesday. The Duke of Sussex visited Imperial College London’s Centre for Blast Injury Studies that day, greeting fans who were waiting outside as he left. Shaking hands and snapping selfies, he excused himself by saying, “I have to go, I’m so late… I’ve got to go, I’ve got to go. Nice to meet you guys,” according to the Daily Mail.

Meanwhile, the King was spotted boarding a plane from Scotland, where he was spending time at Balmoral Castle in recent weeks, to the capital city.

Upon his arrival in London, King Charles traveled to Clarence House, where he held several audiences in addition to meeting with Prince Harry.

The King hosted an investiture ceremony for Manfred Goldberg, honoring him for his Holocaust education efforts. Later in the day, the monarch received Peter Malinauskas, the premier of South Australia.

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The reunion was a landmark moment for the father and son. Those close to Prince Harry have told PEOPLE that King Charles was not taking his calls, and any messages were left unanswered. Harry has expressed his desire to begin steps towards a rapprochement, telling BBC News in May that he would love a “reconciliation.”

He also recognized that some of his actions in recent years, including writing his memoir Spare, had made it difficult for members of his family to talk to him.

Lines of communication appeared to reopen when Prince Harry’s new aides and one of the King’s key staffers met for the first time in July. The meeting was viewed by some insiders as an olive branch that could pave the way for better relations.

“It was a good first step,” an insider told PEOPLE at the time. “It is always better to be talking.”

The same month, the Duke of Sussex reportedly offered to share his official schedule with the royal family. The move would allow transparency and help avoid conflicts between Harry and Meghan Markle’s public outings and the British royal family’s engagements — and therefore, claims of trying to overshadow each other.

Prince Harry has been in the U.K. several times over the last 19 months, but his trips have not included meetings with his closest royal relatives. He attended the funeral of his uncle Lord Robert Fellowes last August, and although Prince William, 43, also attended, the brothers remained separated. The Duke of Sussex was also in London for the Invictus Games’ 10th anniversary in May 2024, when King Charles was hosting an event only a few miles away, and in September 2024 for the last WellChild Awards.

Harry also returned to his home country again in April for the resumption and conclusion of his appeal over the removal of his taxpayer-funded security. But it is that case which made it especially difficult to talk, some close to the royals say, as King Charles is titular head of government — and its courts headed by him — that Harry was fighting.

Any discussion about the case between the complainant’s son and his father could have put the monarch in a difficult legal position.

Some close royal observers and insiders believe it is about time they met and spoke face-to-face. King Charles, a practising Christian and head of the Church of England and a longtime advocate for unity, should take the first step. But he has been coping with facing a life-threatening illness and, of course, is head of the institution that Prince Harry has criticized in his books and interviews.

“I would like to think the King will take that step toward reconciliation with Harry in due course,” historian Dr. Ed Owens, author of After Elizabeth: Can the Monarchy Save Itself?, told PEOPLE earlier this year.

While Prince Harry and King Charles’ reunion is a positive step, tensions remain between Harry and his brother, Prince William. Although the siblings were only eight miles apart on Monday, their rift remains deep.

Robert Lacey, author of Battle of Brothers, recently told PEOPLE: “The rift is very profound and very long-lasting. It will not be changed, in my opinion, until Harry makes a move and apologizes.”

Added historian Amanda Foreman: “Everyone wants it to happen on their terms, but that’s what makes it impossible.”