Behind the Scenes in Africa with Meghan Markle and Prince Harry: ‘We’re Really Happy’ (Exclusive)

Meghan Markle and Prince Harry made every moment count during their “meaningful” trip to Nigeria.

Speaking with PEOPLE on the tour, the Duke of Sussex says, “These trips are about us being able to go out and go and focus on the things that mean so much to us. And being able to be on the ground, to us, is what it’s all about.”

The Duchess of Sussex adds, “It’s really meaningful. Just being able to connect to people…that’s what makes it special.”

That connection was magnified by Meghan’s discovery through a genealogy test that she is 43% Nigerian, a revelation that deeply resonated with Meghan as she expressed being in “my country.”

On Mother’s Day she found it poignant to be learning more about “my heritage, that I’m able to share with my children,” she says. “That’s such a special thing as a mother to know you can do.”

The couple hit the ground running when they arrived at Lightway Academy in Abuja on May 10, the first stop of their three-day stay. Speaking to students, Prince Harry, 39, emphasized the importance of acknowledging tough times, reassuring that it’s “okay not to be okay.” Meghan, 42, recounted how Lilibet, who turns 3 in June, recently remarked, “Mama, I see me in you.” Reflecting on those words, Meghan said, “Looking around this room, I see myself in all of you as well.”