The Duchess of Sussex has shared rare footage of her children with Prince Harry in a video tribute for Father’s Day.

Meghan Markle posted a video to Instagram showing Harry alongside six-year-old Archie and four-year-old Lilibet, set to the song Have It All by Jason Mraz.

“The best,” she captioned her post. “Happy Father’s Day to our favourite guy.”

The compilation features photos and videos of Harry laughing, dancing and spending quality time with his children through the years.

The candid footage is the most Meghan has shared of her children since her return to social media earlier this year. She has been regularly sharing personal milestones and professional updates through her Instagram account.

Harry and Meghan have raised their children in California stepping back as working members of the British royal family in 2020.

The couple have since been at the centre of tensions with other royals, with Harry becoming estranged from his father, the King, and his brother William, the Prince of Wales.

In a recent interview, Harry said he “would love a reconciliation” with his family, saying the King won’t speak to him and expressing concern that he does not know “how much longer my father has”.

Harry was not the only royal father to receive an appreciation post to mark the northern hemisphere’s Father’s Day.

William’s children also shared good wishes in a social media post, declaring: “We love you!”

Two photographs of William and his three children, George, 11, Charlotte, 10, and Louis, seven, were released on Sunday.

The first picture shows the prince and his children posing in a garden. In the second picture, William and the youngsters are shown wrestling playfully in the grass, with the two boys holding their father down and Charlotte laughing.

“Happy Father’s Day, Papa (before and after!),” the children’s post was captioned.

“We love you!”

The message was signed “G, C & L” followed by a sparkly heart emoji.

Prince William, wife Catherine and their three children on the Buckingham Palace balcony. Photo: AAP

The relatively informal post came a day after the Wales family turned out for the traditional Trooping the Colour parade to mark the official birthday of the King.

William, in military uniform, rode a horse in the parade while wife Catherine and the children shared a carriage. The family later joined the King, Queen and other senior royals in a Buckingham Palace balcony appearance – at which young Prince Louis again delighted the crowd.

Meanwhile, the King and Queen wished other dads a happy Father’s Day by posting photographs of their own fathers on the royal family’s Instagram account.

“To all dads everywhere, we wish you a happy Father’s Day today,” the official account said.

The post shared a photograph of the late Prince Philip playing with a young Charles and his sister Princess Anne on a swing.

A picture of the Queen and her father Major Bruce Shand was also shared. It showed the pair together on the King and Queen’s wedding day.

-with AAP