During their appearance, the Duchess of Sussex read her children's book to a group of about two dozen children.
The duke and duchess offered lots of hugs to students at PS 123, a school that services shelters for students without permanent homes. A couple of the children were seen shedding tears when they met the pair.
A group of about 11 second graders had prime spots up front in the playground as Meghan read "The Bench," which she initially wrote as a Father's Day poem to Harry after the birth of their son Archie. In all, a group of of about two dozen schoolchildren in uniforms sat cross legged on green cushions while Meghan read the book, which is a multicultural tribute to fatherhood.
The couple wore masks during their hourlong visit to the school. They also donated two garden boxes filled with vegetables to the school.
Meghan wore a Merlot trouser outfit to the appearance, which is one of several the couple is making this week in New York City. Harry wore khakis and a casual Henley.
The couple, who live in California after stepping aside from royal duties last year, are scheduled to appear on Saturday at a Global Citizen concert aimed at combatting a variety of issues, including climate change, global poverty and vaccine inequity.
The Associated Press contributed to this report.