The Duke and Duchess of Sussex stepped out in Florida for a charity polo match to benefit Sentebale, which Harry co-founded in 2006

Meghan Markle and Prince Harry shared a sweet kiss to cap off a day of polo.

The Duke and Duchess of Sussex shared a celebratory kiss after Meghan, 42, presented Harry, 39, with a trophy following his team’s victory at the Royal Salute Polo Challenge held at the Grand Champions Polo Club in Wellington, Florida, on April 12.

“They were very loving with each other,” an onlooker tells PEOPLE. “Meghan looked really happy.”

Harry and Meghan’s affectionate moment mirrored another memorable kiss they shared just weeks after their royal wedding. In July 2018, Meghan gave Harry a congratulatory kiss after presenting him with the winning trophy at a charity polo match.
The sweet exchange on Friday was captured by cameras as the couple filmed for their upcoming Netflix series focused on the world of polo. On April 11, the Duke and Duchess of Sussex’s Archewell Productions revealed two new series are in the “early stages” of production at Netflix, one of which revolves around the equestrian sport. While the couple serves as executive producers for the series, they may appear in cameo roles but are not set to be the main stars.

Related: Meghan Markle’s Polo Style! See the Duchess of Sussex’s Most Memorable Looks at Prince Harry’s Matches

Harry took part in the charity match in front of 300 guests, which was held to benefit Sentebale. He co-founded the organization in 2006 with Prince Seeiso of Lesotho, aiming to support children in Africa affected by poverty, inequality, and HIV/AIDS.

The polo match also brought Prince Harry together with his friend and Sentebale ambassador, Ignacio “Nacho” Figueras. Harry and Meghan posed for photos alongside Figueras and his wife, Delfina Blaquier. The Duke and Duchess of Sussex also warmly greeted the couple’s daughter, Alba, with hugs, and Meghan was seen affectionately walking with her arm around her.

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Harry’s team won the tournament against Figueras’ team, with the Duke scoring a goal. Figueras told PEOPLE that he and his wife have plans to spend time with Meghan and Harry over the weekend.

Through a series of events including the Royal Salute Polo Challenge, a dinner and panel in Miami on April 11 where Harry discussed his passion for Africa, and Sotheby’s Sentebale Benefit Auction, a total of $1 million has been raised for Sentebale.