Harry, 36, is now expected to self-isolate at Frogmore Cottage in Windsor for five days before he and William, 39, reunite at Kensington Palace on July 1 for what would have been the 60th birthday of Princess Diana.
There were dramatic scenes at Los Angeles International Airport (LAX) shortly before Harry boarded an American Airlines flight to London Heathrow.
A car crashed through the perimeter fence and drove into LAX airfield, forcing authorities to briefly close the runways around 6 p.m. local time on Thursday.
The driver was arrested and around 20 police cars were seen near one of the runways before combat operations resumed.
The American Airlines flight departed around 6:45 p.m. local time (2:45 a.m. UK time) and landed at Heathrow 10 hours later at around 12:45 p.m. UK time on Friday.
Harry’s visit comes just over two months after returning from his new home in California to attend the funeral of his grandfather, Prince Philip.
The latter was his first return to the UK since he and his wife Meghan Markle stepped down as royals and moved to the United States to pursue their own interests.
Meghan, 39, gave birth to the couple’s second child – a daughter named Lilibet “Lili” Diana – on June 4, and stayed at home with her newborn baby and two-year-old son Archie.
Meghan and Harry, who signed lucrative deals with Netflix and Spotify, took parental leave after the birth of their daughter.
Harry’s appearance alongside William next Thursday will be watched closely by commentators and royal fans, given the rift between them.
It comes after Harry and Meghan made several explosive comments and claims in a series of interviews.
The Duke of Cambridge and The Duke of Sussex will attend a small event next week to mark the unveiling of the statue they have commissioned from their mother, a Kensington Palace spokesperson confirmed on Friday.
The event is hosted in the Sunken Garden of Kensington Palace, Diana’s former home.
Attendees will include Diana’s close family, statue committee members, sculptor Ian Rank-Broadley and gardener designer Pip Morrison.
During Meghan and Harry’s explosive interview with Oprah Winfrey in March, she accused an anonymous member of the royal family – not the Queen or Philip – of racism, saying they were concerned about the color of the skin Archie before he was born.
The Duchess also criticized the institution for not helping her with her mental health issues.
Harry claimed his father, Prince Charles and his brother were “trapped” in the royal family.
The Queen responded by saying the issues were taken “very seriously” but “some memories may vary” and the matter would be dealt with by the family in private.
William told reporters “we are really not a racist family”.