The royal couple arrived at the city's Hyde Park on Saturday morning for the opening of the Anzac Memorial, which commemorates the sacrifices made by those who served for Australia and New Zealand.
Harry and Meghan were all smiles wearing colourful Leis and couldn't keep their hands off each other as they interacted with the community. Harry will be accompanied on his bridge climb by competitors from the Invictus Games - the competition for armed forces veterans which he set up.
Meghan Markle talked about what her pregnancy has been like during a conversation with a royals fan at Bondi Beach in Sydney on Friday. With this taken into consideration, we can only imagine what embarrassing japes he's got up his sleeve to mortify his family with once the baby's out.
Another onlooker was Invictus ambassador Curtis McGrath who competed in the Toronto games in 2017.
Meghan Markle couldn't be happier to be welcoming her first child with Prince Harry, but as RadarOnline.com has learned, it hasn't all been easy for the pregnant Duchess. On a serious note, he added: "Our competitors have made it to these games, majority travelling from many thousands of miles away".
The ceremony overran by more than an hour due to a thunderstorm that had made it too unsafe for the public to take their seats in the outdoor arena, so the Duchess undertook her latest night of the tour with a 10.30pm finish.
Charlotte Connell, a OneWave member, said Harry spoke of his own experiences seeking counselling more than 20 years after his mother, Princess Diana, died in a vehicle crash in a Paris tunnel in 1997 when he was aged 12.