Meghan Markle and Prince Harry Joined by Friend Serena Williams While Filming Netflix Series at Polo Match

Meghan Markle and Prince Harry spent some time with Serena Williams this week while prepping for their latest project.

While Harry took part in the Royal Salute Polo Challenge at the Grand Champions Polo Club in Wellington, Florida on April 12, Meghan, 42, was seen chatting with her friend Williams, 42.

The event came shortly after the Duke and Duchess of Sussex were revealed to be working on two new series for Netflix, both of which are in their “early stages.”

Meghan was also spotted spending some quality time with Williams, a longtime friend, as during the match, the two friends were photographed strolling around the horses, laughing together, sitting on the back of a golf cart, sharing a hug and chatting with Prince Harry, 39, who wore a polo outfit.

The match itself took place in front of 300 guests and benefitted the organization Sentebale, founded in 2006 by Prince Harry and Prince Seeiso of Lesotho, which aims to offer assistance to children affected by poverty, inequality and HIV/AIDS in Africa.

The Duchess of Sussex wore a chic white halter dress and sunglasses for the occasion, while Williams opted for a black long sleeve and long white skirt. Following Harry’s team winning the match , the Duke and Duchess shared a sweet kiss as he was presented with a trophy. An onlooker at the event told PEOPLE that, “They were very loving with each other,” and that “Meghan looked really happy.”

Meghan and Prince Harry’s upcoming polo series, which also comes from showrunner Miloš Balać, will “pull the curtain back on the grit and passion of the sport, capturing players and all it takes to compete at the highest level,” per a statement.

As previously reported, the titles and release dates for the two new shows from the Duke and Duchess of Sussex are expected to be announced in the coming months.