Meghan Markle has shared never-before-seen footage of Prince Harry and their children Prince Archie and Princess Lilibet with a heartfelt message to mark Father's Day.

Shortly before midnight Meghan shared the video on Instagram showing Harry alongside Archie and Lilibet, set to the song Have It All by Jason Mraz with the caption: "The best. Happy Father’s Day to our favorite guy." The compilation showed photos and videos of Harry laughing, dancing and spending quality time with his children through the years. The video hints at a sea change in the way the couple reveal insights into their every day life, having recently made changes to their communication team.

For the first time they have revealed what Harry is like as a dad - teaching his child to ride a bike, making the kids howl with laughter, reading a bedtime story. The video also shows snippets of the children's faces, a change from recent photos shared by Meghan, and ends with a shot of Harry holding Lilibet underneath a banner saying: "Happy Fathers Day".

But despite the post honouring Harry, Meghan did not mention her own father Thomas Markle. She has not spoken to him since a family fallout over seven years ago at the time of her wedding.

In addtion, there was no public Father's Day message from Harry to his father King Charles. The Sussexes have since been at the centre of tensions with other royals, with the duke becoming estranged from his father, the King, and his brother, Prince William.

In a recent interview, Harry said he "would love a reconciliation" with his family, claiming Charles will not speak to him and expressing concern that he does not know "how much longer my father has".

The new Father's Day post comes as Meghan has been sharing more and more of her life at home with Harry and their two children on social media. Just last week, she shared an intimate video of the family celebrating Princess Lilibet’s fourth birthday at Disneyland.

The post on Instagram showed the family enjoying rides at the California attraction, drawing comparisons with Harry’s childhood trip to Florida’s Walt Disney World with Diana, Princess of Wales, in 1993.

The montage also featured a clip of Archie, six, and Lili meeting Disney princess Elsa, from the film Frozen. Meghan wears a Minnie Mouse hat in some of the snaps featured in the video, while another image shows a two-tier Little Mermaid-themed birthday cake for Lili.

It came just days after posted a video of herself twerking in a bid to bring on labour while pregnant with Lilibet. In the clip, a heavily pregnant Meghan is shown dancing in a hospital room to the Starrkeisha song Baby Momma, alongside the Duke of Sussex. She posted on her Instagram to celebrate Lili’s fourth birthday last week, writing: “Four years ago today, this also happened.

“Both of our children were a week past their due dates… so when spicy food, all that walking, and acupuncture didn’t work – there was only one thing left to do!” The candid video, which runs for more than a minute, also features Harry, who is seen dancing in and out of the frame.

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He is beckoned in by Meghan as the pair dance together, with the duke appearing at the end with the hood of his grey hoodie up as he continues his dance moves.

Meghan is wearing a black maternity dress and cradles her large bump as she dances, as well as lifting her skirt above her knees, raising her hands in the air and wiggling low with her hands on her hips and legs. The release of the footage is one of the more unusual ways a member of the royal family has marked a royal birthday.

Former BBC royal correspondent Jennie Bond previously told the Mirror: "I suppose Meghan is showing the children more on Instagram because she knows there is a public appetite for photos of them. But she’s being very coy about allowing us to see what they really look like.

"That’s fair enough, if she wants to protect their privacy - though you could certainly argue that there’s a very fine line between using them to publicise her Instagram account and her determination to keep their family life private.

"With both children at school, she and Harry will obviously have a bit more time to pursue their various activities. Meghan seems to be ramping up her projects more and more, but I think they will both continue to put their family first - just like William and Catherine. And there’s nothing wrong with that if you are lucky enough to be able to do so."

However, Harry was not the only royal father to receive a Father’s Day appreciation post. William’s children earlier wished him a happy Father’s Day in a social media post declaring: "We love you!" Two new 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 for a family picture in a garden, while 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. In their post, the three children wrote: "Happy Father’s Day, Papa (before and after!) “We love you!"

The message was signed “G, C & L” followed by a sparkly heart emoji. Kensington Palace said the photographs were taken by professional photographer Josh Shinner in Norfolk earlier this year.

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