Prince Harry and King Charles met face-to-face for the first time in over a year and a half, marking a significant step in their strained relationship.

The Duke of Sussex, 40, was seen arriving by car at Clarence House, the King’s London residence, on Sept. 10 around 5:20 p.m. He stayed for about 55 minutes before leaving. Buckingham Palace confirmed the father and son shared a private tea but gave no further details, while Harry’s spokesperson echoed that no additional comments would be made.

A Visit Tied to Charitable Work

Harry returned to the U.K. on Sept. 8 to support his charities, beginning with a tribute to Queen Elizabeth on the third anniversary of her passing. He attended the WellChild Awards and later traveled to Nottingham to highlight youth initiatives.

In London, he also visited Imperial College’s Centre for Blast Injury Studies, where he greeted fans and joked as he rushed off: “I have to go, I’m so late… I’ve got to go, I’ve got to go. Nice to meet you guys.”

Meanwhile, King Charles traveled from Balmoral Castle to London that same day. Alongside his meeting with Harry, he held several audiences, including hosting an investiture for Holocaust educator Manfred Goldberg and meeting with South Australia’s premier, Peter Malinauskas.

Rebuilding Lines of Communication

The reunion comes after a long stretch of silence. Sources previously told PEOPLE that Charles had stopped taking Harry’s calls. The Duke admitted in May that while he longed for “reconciliation,” some of his choices — such as writing his memoir Spare — made it difficult for family members to engage with him.

Signs of progress appeared in July, when Harry’s new team met with one of the King’s senior staffers, seen as an olive branch. “It was a good first step,” an insider said. “It is always better to be talking.” Harry reportedly also offered to share his schedule with the royal household to avoid clashes between his and Meghan’s appearances and official royal events.

Missed Meetings in Recent Visits

Although Harry has returned to Britain several times over the past 19 months, he has not met with his closest relatives. He attended the funeral of his uncle Lord Robert Fellowes, the Invictus Games’ 10th anniversary, and other events, but did not connect with Charles or William.

One barrier has been Harry’s legal battle over the removal of his taxpayer-funded security, which put Charles, as head of state, in a sensitive position. Any discussion risked entangling the King in the case.

The Path Toward Reconciliation

Royal historians stress that while this reunion is encouraging, challenges remain. Charles, facing cancer treatment and the burdens of the crown, has been urged by some to extend further steps toward unity. “I would like to think the King will take that step toward reconciliation with Harry in due course,” historian Dr. Ed Owens told PEOPLE.

But the deeper rift with Prince William persists. Though the brothers were only eight miles apart during Harry’s visit, they did not meet. Robert Lacey, author of Battle of Brothers, observed: “The rift is very profound and very long-lasting. It will not be changed, in my opinion, until Harry makes a move and apologizes.”

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