In the short promo clip (watch it above), Harry can be seen holding Archie, cuddling and bouncing him in his arms while Meghan kisses and strokes their son's head.
Moments before the footage was filmed, baby Archie met Archbishop Desmond Tutu in his first appearance on the royal tour.
The couple's 10-day tour of Africa included Harry retracing his mother, Princess Diana's, footsteps through the once land mine-ridden fields in Huambo, Angola, and Meghan's visits to various events, including attending the 'Ladies Who Launch' event at the Woodstock Exchange.
While at the event, Meghan found herself confronted by crowds of well-wishers and fans who sang to her as she passed them by, waving and smiling.
As she walked passed their group, around 50 women sang to her: "African queen, there's a new tomorrow, African queen, a dream we can follow" – unofficially bestowing the title of Queen on the Duchess of Sussex!