The son of Prince Harry and Meghan, the Duchess of Sussex, met his paternal aunt and uncle on Tuesday at Frogmore Cottage in Windsor.
The visit took place after Archie's father, Prince Harry, returned from a day of official engagements in Oxford, according to ABC News royal contributor Victoria Murphy.
Prince William and Kate live at Kensington Palace, about 25 miles from Harry and Meghan's home in Windsor.
William and Kate are the parents of Archie's three cousins, Prince George, Princess Charlotte and Prince Louis.
They appear to be the second members of Britain's royal family to meet Archie, who was born on May 6. Harry and William's father, Prince Charles, is expected to meet his fourth grandchild later this week, according to ABC News royal contributor Omid Scobie.
Archie was introduced to his great-grandparents, Queen Elizabeth II and Philip, the Duke of Edinburgh, last week, on the same day Harry and Meghan announced his name and posed with him in photos.
Both Prince William and Kate had official engagements earlier in the day.