Stephen Lawrence was a British man from Eltham, south east London, who was murdered in a racially motivated attack while waiting for a bus on the evening of 22 April 1993.
Following the service, Theresa May announced that April 22 would now be known as Stephen Lawrence Day.
His murder became a watershed moment in modern race relations in the United Kingdom, after the subsequent Macpherson Report into the case concluded the police made mistakes and were guilty of "institutional racism".
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Stephen's father Neville, who split with his wife after the murder and returned to his home country of Jamaica, said earlier this month that he has now forgiven the men who killed his son.
He told the Press Association: "The fact that I had to lose my first child has been devastating".
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The case sparked anguish among the black community for the senseless, unprovoked, murder of the black teenager and the slow police response to solve the case.
The force has said that unless detectives receive new information the investigation is "unlikely to progress further".
Harry and Markle met Baroness Lawrence, Stephen's mother, and her son Stuart at the entrance of the church before taking their seats for the service, during which Harry read a message on behalf of Prince Charles.
Harry, who is due to marry USA actress Markle on May 19, will read out a message of support on behalf of his father Prince Charles at the memorial at St Martin-in-the-Fields Church in central London.
Five years after Stephen's death, his mother set up the Stephen Lawrence Charitable Trust to campaign for fairness, justice, and equality for all.