The pair have developed a relationship since Obama was in office, Harry visited Chicago in October for the Obama Foundation’s inaugural summit and Obama paid him a visit earlier this year while he toured Europe.
Obama also congratulated Harry on his engagement to actress Meghan Markle.
Writing on Twitter, “Michelle and I are delighted to congratulate Prince Harry and Meghan Markle on their engagement. We wish you a lifetime of joy and happiness together.”
Prince Harry and Obama's Friendship
Prince Harry and Obama's Friendship
TORONTO, ON - SEPTEMBER 29: Former U.S. President Barack Obama and Prince Harry share a joke as they watch wheelchair baskeball on day 7 of the Invictus Games 2017 on September 29, 2017 in Toronto, Canada (Photo by Chris Jackson/Getty Images for the Invictus Games Foundation)
TORONTO, ON - SEPTEMBER 29: Barack Obama and Prince Harry attend the Basketball on day 7 of the Invictus Games Toronto 2017 at the Pan Am Sports Centre on September 29, 2017 in Toronto, Canada. The Games use the power of sport to inspire recovery, support rehabilitation and generate a wider understanding and respect for the Armed Forces. (Photo by Karwai Tang/WireImage)
TORONTO, ON - SEPTEMBER 29: Former U.S. President Barack Obama and Prince Harry with a competitor on day 7 of the Invictus Games 2017 on September 29, 2017 in Toronto, Canada. (Photo by Chris Jackson/Getty Images for the Invictus Games Foundation )
TORONTO, CANADA - SEPTEMBER 2017: In this undated handout photo released by Kensington Palace, courtesy of the Obama Foundation, Prince Harry interviews former US President Barack Obama as part of his guest editorship of BBC Radio 4's Today programme which is to be broadcast on December 27, 2017. The interview was recorded in Toronto in September during the Invictus Games. The conversation with the former President includes his memories of the day he left office and his hopes for his post-presidential life, including his plans to focus on cultivating the next generation of leadership through the Obama Foundation. (Photo by The Obama Foundation via Getty Images)
NOTE TO EDITORS: This handout photo may only be used in for editorial reporting purposes for the contemporaneous illustration of events, things or the people in the image or facts mentioned in the caption. Reuse of the picture may require further permission from the copyright holder.
ORLANDO, FL - MAY 08: Prince Harry and First Lady Michelle Obama meet the USA Invictus Team ahead of the Opening Ceremony of the Invictus Games Orlando 2016 at ESPN Wide World of Sports on May 8, 2016 in Orlando, Florida. Prince Harry, patron of the Invictus Games Foundation is in Orlando ahead of the opening of Invictus Games which will open on Sunday. The Invictus Games is the only International sporting event for wounded, injured and sick servicemen and women. Started in 2014 by Prince Harry the Invictus Games uses the power of Sport to inspire recovery and support rehabilitation. (Photo by Chris Jackson/Getty Images for Invictus Games)
LONDON, ENGLAND - APRIL 22: Prince Harry, US President Barack Obama, First Lady Michelle Obama, Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge pose as they attend a dinner at Kensington Palace on April 22, 2016 in London, England. The President and his wife are currently on a brief visit to the UK where they attended lunch with HM Queen Elizabeth II at Windsor Castle and later will have dinner with Prince William and his wife Catherine, Duchess of Cambridge at Kensington Palace. Mr Obama visited 10 Downing Street this afternoon and held a joint press conference with British Prime Minister David Cameron where he stated his case for the UK to remain inside the European Union. (Photo by Chris Radburn - WPA Pool/Getty Images)
WASHINGTON, DC - OCTOBER 28: U.S. President Barack Obama meets with Prince Harry in the Oval Office of the White House October 28, 2015 in Washington, DC. Prince Harry is on a one day visit to the Washington DC area and met earlier in the day with wounded U.S. military personnel at Fort Belvoir, Virginia. (Photo by Win McNamee/Getty Images)
US First Lady Michelle Obama and Britain's Prince Harry react as they attend a Wounded Warriors wheelchair basketball game at Fort Belvoir, Virginia, October 28, 2015. The Prince, who is the Patron of the Invictus Games, an international sports competition for wounded armed service members, visits to highlight the upcoming Invictus Games to be held in Orlando in May 2016. AFP PHOTO / SAUL LOEB / AFP / SAUL LOEB (Photo credit should read SAUL LOEB/AFP/Getty Images)