The 31 year old is in Africa to open a centre in Lesotho that will help children struggling to overcome their HIV/Aids diagnosis.
Speaking at the opening ceremony, Prince Harry said he shared the same feelings of loss as the children he met in Lesotho.
'Although our situations couldn't have been more different, I felt an overwhelming connection to many of the children I met', the Royal said.
'They were far younger than me, and of course, their situation was a great deal more challenging than my own. Nonetheless, we shared a similar feeling of loss, having a loved one, in my case a parent, snatched away so suddenly.'
'I, like them, knew there would always be a gaping hole that could never be filled.'
Prince Harry was reuinted with a 15-year-old boy named Mutsu during the trip, who he'd originally met in 2004
The youngest son of Charles and Diana also paid a beautiful tribute to his late mother, by naming a dining hall after her.
The Diana, Princess of Wales Hall will be the room where children at the centre will gather for meals three times a day and take part in activities.
He also honoured the other most important woman in his life, nanny Olga Powell, who for 15 years cared for him and his brother, Prince William.
Olga started taking care of the two young royals during the difficult period of their parents' divorce, and remained close to them until her death aged 82 in September 2012.
Harry's nanny, who left a request for mourners at her funeral to donate to Sentebale, is remembered with a plaque that reads: 'The Welcome Centre: In loving memory of Olga Powell.'
Prince Harry visited the 96-bed centre to see the finished product, for which he has helped fundraise since 2013. He even lent his architect skills to the project, designing the front bit of building.
The centre is named after Prince Seeiso of Lesotho's mother, Queen Mamohato, who told HELLO! magazine: 'If you were to look at our history in terms of what Sentebale is, it's in honour of our late mums.'
Talking about Harry's efforts in heping, he said: 'He came from a similar background from his mum – you need to be seen and to feel what other people are feeling so that you can make a difference in your own way.'
Prince Harry in Lesotho, 2004
During his visit, Prince Harry also caught up with Mutsu, the boy he first met during his trip in 2004, and with whom he has maintained a special relationship since.
Mutsu, now a 15-year-old teenager, said: 'I felt very happy, very excited. I'm very comfortable around Harry, he is very comfortable around me. We click.'
Ahead of their last meeting, he sent Prince Harry an emotional letter, showing how grateful he was for the help he has been getting from the charity.