Prince Harry and Meghan Markle are engaged! A look back at their relationship timeline

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Here's a timeline of the relationship of Prince Harry and Meghan Markle. (Samir Hussein/WireImage)

Prince Harry and actress Meghan Markle, whose relationship has been kept relatively private, announced their engagement Monday.

Harry and Markle made their first public appearance together at the Invicitus games in Toronto on Monday.

Watch the video above to see a timeline of the relationship of the royal couple.

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