The Duke of Sussex made a fleeting appearance during Donald Trump's state visit this afternoon, and met with the First Daughter, Ivanka.

Prince Harry made the briefest of appearances at the back of the gallery room as Trump began his tour of the Royal Collection.

He ducked back out without ever fully joining the group, but was seen mingling with Ivanka Trump as the Queen gave her visitors a tour of the US items on display at Buckingham Palace.

Harry made a fleeting appearance as President Donald Trump viewed US items of the Royal Collection at Buckingham palace. Photo / Getty Images.
Harry made a fleeting appearance as President Donald Trump viewed US items of the Royal Collection at Buckingham palace. Photo / Getty Images.

It comes after the president furiously backed-tracked at the weekend when he said he did not realise Meghan Markle was "nasty" after learning about her criticism of him in 2016.

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Despite the comment, the President insisted that Meghan would make a great royal and do an "excellent job."

After her visit, Ivanka tweeted: "It was an incredible honor to meet Her Majesty the Queen, the longest monarch in British history,"

President Donald Trump, First Lady Melania Trump, Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall. Photo / Getty Images.
President Donald Trump, First Lady Melania Trump, Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall. Photo / Getty Images.

The Duchess of Sussex, 37 did not join the visit and stayed at home with her son Archie Harrison. She's been on maternity leave and has not been seen since the birth of the baby.

Ahead of his visit to the UK, Donald Trump denied he called Meghan Markle nasty in an interview with the Sun.

Markle was critical of Trump when he was running for president in 2016, and when talking with The Sun in an Oval Office interview, the president said he has not been aware of her criticism of him.

The 37-year-old senior Trump adviser is joining her father on his three-day visit to the UK. Photo / Getty Images.
The 37-year-old senior Trump adviser is joining her father on his three-day visit to the UK. Photo / Getty Images.

"I didn't know that," Trump said in an interview with the Sun, when he was told Markle has called him "misogynistic" and "divisive."

"What can I say? I didn't know that she was nasty."

He also, in the same interview, praised Markle, saying she makes a "very good American Princess" and claiming he's glad to see Markle as part of the royal family.

Ivanka Trump visits Number 10 Downing Street during the second day of her state visit. Photo / Getty Images.
Ivanka Trump visits Number 10 Downing Street during the second day of her state visit. Photo / Getty Images.

"It is nice, and I am sure she will do excellently. She will be very good. I hope she does [succeed]."

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Ivanka, the President's eldest daughter, 37, arrived in the UK yesterday and managed to squeeze in a trip to the Victoria and Albert Museum in Kensington.

Ivanka was spotted peering out the window at the huge crowds gathering outside Buckingham Palace today ahead of the President's arrival.

She opted for an all white ensemble by Italian-born London-based designer Alessandra Rich, with a floating top cinched in at the waist by a chunky belt and a pleated skirt. She wore her long blonde locks straight and down.

This morning she posted a message on her Twitter and Instagram pages expressing her excitement for the visit.

Donald Trump arrived at Buckingham Palace for lunch with the Queen, Prince Charles, Prince Harry and other senior royals today as Britain rolled out the red carpet for the leader of the free world.

Trump and his wife Melania landed at Her Majesty's central London home while his visibly excited daughter Ivanka and her husband Jared Kushner peered from a window as he landed and thousands gathered on The Mall outside.

After a private lunch, the Queen led President Trump into the palace's picture gallery to view an exhibition of American artefacts and other items from the Royal Collection. With the US leader's Scottish heritage, a bolt of Harris tweed was pointed out to him and the monarch rubbed her fingers to indicate its soft texture.

For the first day of the three-day visit, First Lady Melania, 49, plumped for a classic knee-length pencil skirt and matching blazer as she stepped off Air Force One.

In an apparent nod to the upcoming D-Day anniversary, Melania Trump paired the suit with a £650 ($820) Burberry blouse printed with military medals.

President Trump reached for his wife's hand as they crossed the runway and made their way to the waiting Marine One helicopter.

While the President and First lady are expected to be met by protests in central London, there was no sign of disruption on their arrival in Stansted Airport, which is roughly an hour's drive from the capital.

The First Lady found time for an outfit change on the overnight flight, after leaving the Andrews Air Force Base, in Maryland, in a $4655 Gucci shirt dress.

The designer frock was printed with a graphic illustration of the London skyline - complete with depictions of Tower Bridge and the Houses of Parliament.