Meghan Markle and Prince Harry skip Jubilee luncheon after being booed at their first royal event in years

• Prince Harry and Meghan Markle are in the UK for Queen Elizabeth's Platinum Jubilee.
• The pair skipped a luncheon following a thanksgiving service at St. Paul's Cathedral.

Prince Harry and Meghan Markle aren't receiving the warmest welcome in the UK.

The Duke and Duchess of Sussex returned to the UK for Queen Elizabeth II's Platinum Jubilee festivities, which celebrate her 70 years on the British throne.

On Friday, Harry and Markle attended the national service of thanksgiving at St. Paul's Cathedral as part of the celebrations. The Queen pulled out of attending the service on Thursday after feeling some "discomfort," according to a statement from Buckingham Palace.

The service marks Harry and Markle's first joint public appearance with the royal family in two years following their step back as senior members of the monarchy and move to the US. They arrived in the UK with their children, Archie and Lili, on Wednesday, according to Vanity Fair.

They attended Trooping the Colour on Thursday but did not greet fans on the balcony with other senior members of the royal family.

Their return to a formal royal event was seemingly not met with a positive reaction, as a video published by the New York Post shows crowds booing the duke and duchess as they leave the thanksgiving service.

The couple skipped a royal luncheon following the service, The Mirror reported.

Harry and Markle also appeared to be distant with Prince William and Kate Middleton during the event. They seemingly did not speak at the service despite being in the same room.

Rumors have swirled for years that there is a rift in Harry and William's relationship, and in the Sussexes' bombshell interview with Oprah Winfrey last year, Markle said Middleton made her cry during the week of her wedding.

Representatives for the Duke and Duchess of Sussex did not immediately respond to Insider's request for comment.