The estranged brothers were filmed walking side-by-side today after saying goodbye to their grandfather Prince Philip.

They saw each other this week for the first time in more than a year, after the Duke of Sussex made explosive claims about the Royal Family in an interview with Oprah Winfrey.

Body language expert Judi James has described the reunion as ‘a moment of connection’.

She told MailOnline: ‘The moment of connection between William and Harry came right at the end of the service as they left the chapel.

‘In a well-co-ordinated but also relatively natural-looking moment, Harry walked up behind William and Kate to then join them, walking between them and chatting to them both.

‘After a few seconds of what looked like natural and not self-conscious conversation, Kate fell back, leaving the two brothers walking off talking alone.

‘It looked like a genuine moment of unity rather than something contrived for the cameras.’

The moment came following an impromptu decision by some members of the family to walk back to Windsor Castle from St George’s Chapel – despite state cars being provided.

Harry and William were separated by their cousin Peter Phillips as they walked behind the coffin this afternoon. They were originally expected to walk shoulder-to-shoulder.

The siblings, along with the rest of the Royal Family, looked sombre as they sat opposite one another in St George’s Chapel.

Royal sources said the brothers were ‘keen to spend time together as a family’ after the funeral as they put their differences to the side to honour the duke.

Speaking to Oprah about his relationship with William in March, Harry said it was ‘space at the moment’. However, the duke expressed hopes that ‘time heals all’.

What medals did Harry and William wear at Prince Philip's funeral?

Members of the Royal Family did not wear military uniform at the Duke of Edinburgh's funeral.

Instead, they wore civilian clothing with medals attached.

What medals did Prince William wear?

The Duke of Cambridge displayed his Garter Star - the most senior order of knighthood in the British honours system.

William is a member of the Order of the Garter, which was founded by King Edward III over 700 years ago, in 1348.

As a future king, he was made Knight of the Garter in 2008 by the Queen.

Harry and William wore wore civilian clothing with medals attached

William also wore the 2002 Queen’s Golden Jubilee Medal and the 2012 Queen’s Diamond Jubilee Medal during today's funeral.

What medals did Prince Harry wear?

The Duke of Sussex, who actively served as a captain in the British Army, displayed more medals due to his military service.

One of the medals he wore was his Afghan Service Medal, reflecting his deployment to Afghanistan.

The 36-year-old also wore the Golden and Diamond Jubilee medals, as well as the KCVO Star.

This represents the Royal Victorian Order, which recognises distinguished personal service to the monarch of the Commonwealth.

Earlier this year Harry was forced to relinquish his military titles after stepping down as a senior working member of the Royal Family.

He and wife Meghan Markle have accused an unidentified member of the Royal Family of having ‘concerns’ about how dark Archie’s skin would be when he was born. It was not the Queen or Prince Philip, they said.

The Duchess of Sussex also claimed she asked Palace officials for help getting treatment for depression after experiencing suicidal feelings – but said this was denied because it would ‘look bad’.

In a statement issued by the Queen, Buckingham Palace said the whole family was ‘saddened’ by the ‘serious allegations’ which would ‘be addressed privately’ – although added that ‘recollections may vary.