The event is one of many that the royal duo will attend in the lead-up to Sunday's Remembrance Day, the UK's national holiday to commemorate those who served in the military.
One military mom, Susie Stringfellow, told Forces Network that there was also a conversation between her and Harry during which he suggested that the Royal couple was already thinking of having another baby. "[The Duke and Duchess] are very down to earth, and they've had a snapshot of the entire community here by talking to lots of people from different backgrounds".
William, Harry, Catherine and Meghan have not been seen together in public for months and the appearance comes just weeks after Harry acknowledged that there was tension between the brothers during an interview for ITV documentary Harry & Meghan: An African Journey. The exhaustion of first-time parenthood also took a toll on their marriage, according to the source.
Her daughter Molly, eight, added: "Meghan promised not to tell anyone that I was off school".
Amy Thompson, whose husband Brad is attached to the Welsh Guards, spoke to the duchess.
BBC reports that one mother who was present at the event described Meghan as a "normal mum" who discussed weaning and crawling with them. Now we have to say, Meghan and Harry might use all of the assist they'll get.
Meghan's solo stint was interrupted when she was eventually joined by Elke Büdenbender, the wife of German President Frank-Walter Steinmeier.
"The regiment is really appreciative of the support the families provide by picking up the burden when the service person is away", he explained.
The couple laid poppies and two crosses as a bugler played the Last Post.
Also in attendance will be the Queen, Prince Charles, the Duchess of Cornwall, Prince Andrew, Prince Edward and Sophie, the Countess of Wessex, Princess Anne and Vice Admiral Sir Tim Laurence, the Duke and Duchess of Gloucester, and the Duke of Kent.