The couple took part in a panel on Wednesday for the Endeavour Awards at Kensington Palace.
The awards, set up by the Royal Foundation overseen by the Duke and Duchess of Sussex and the Duke and Duchess of Cambridge, recognize serving and former service members who have used athletics or adventure to challenge themselves as part of their recovery and rehabilitation.
The Sussexes’ role had been previously unannounced. The ceremony is likely to be held in the coming weeks.
Last year, Meghan also helped in the judging — and, on February 1, joined Harry at the special awards evening to hand out one of them. “I’m truly privileged to be here,” she said in a short speech before giving the prize. That evening, which was their first night out in an official capacity since they’d announced their engagement, came as Harry’s brother, Prince William, and sister-in-law, Kate, were away on their week-long tour of Sweden and Norway.
The awards align with other royally backed initiatives to help veterans, including Harry’s Invictus Games.
Former Army captain Prince Harry “really becomes himself when he’s around veterans,” David Wiseman, who heads much of the military support work done by the Royal Foundation and its Endeavour Awards, previously told PEOPLE. “He can speak openly. He understands he comes from a position of privilege, and he’s not ashamed of that. He understands it’s his duty to use that to have a positive impact. He had a vision for the Invictus Games, and when he’s got a vision, he’s a driver — he drives people toward that vision.”
He added, “Meghan’s incredibly passionate. They’re an incredible match.”