And now they're finally here for the public portion of the day.
Prince Harry and Meghan Markle left Taronga Zoo and were able to take in the sights of the city as they headed to their next engagement by boat.
They sailed on the Admiral Hudson – flying the white ensign of the Royal Australian Navy. It took the royal couple 20 minutes before they disembarked on the Man O’War Steps, the landing point for British and Australian fleets for 150 years.
Proving she's the ultimate royal, Nat Barr captured a snap of the Duchess changing her heels for flats as she boarded the boat!
They were all smiles as they walked up to greet well wishers waiting outside the Sydney Opera House.
Royal fans will adore how Prince Harry's wife paid tribute to his mother during their first royal tour.
Duchess of Sussex is wearing jewellery which once belonged to Diana on her Tuesday engagements, Kensington Palace said.
She wore a pair of butterfly earrings and a bracelet for the reception at Admiralty House and at Taronga Zoo.
Daphne Dunne, is they 98-year-old Sydneysider who famously met Prince Harry during his previous visits.
And it was clear their third time was just as charming, With Harry introducing his wife to Daphne for the first time today.
The proud nan gushed that the experience was "marvellous!"
Meghan was heard saying, "I'm so happy to finally meet you!"
Before saying, “We’ll have a little one when we see you next time.”