Prince Harry is speaking out for the first time, a week after seeing his father, King Charles III, after the British monarch was diagnosed with cancer.

"I spoke to him. And I jumped on a plane and went to go see him as soon as I could," the Duke of Sussex said on "Good Morning America" in a segment that aired Friday of the moment he learned about his father's health.

He continued, "I love my family. The fact that I was able to get on a plane, go and see him, and spend any time with him – I'm grateful for that. … I've got other trips planned that will take me through the U.K., or back to the U.K., and so I'll stop in and see my family as much as I can."

When asked about the state of his father's health, Harry said, "That stays between me and him."

The Office of the Duke and Duchess of Sussex confirmed to USA TODAY on Feb. 5 that Harry planned to travel to London and that he had spoken to his father about his diagnosis.

The news came after Buckingham Palace confirmed on Feb. 5 that Charles was diagnosed with "a form of cancer." He was recently hospitalized and underwent a procedure for benign prostate enlargement, and the cancer was identified via diagnostic tests after a "separate issue of concern was noted."

"His Majesty has today commenced a schedule of regular treatments, during which time he has been advised by doctors to postpone public-facing duties," Buckingham Palace said. "Throughout this period, His Majesty will continue to undertake State business and official paperwork as usual."

On "Good Morning America," Harry also discussed whether or not his father's health scare has brought his family closer.

King Charles III's cancer, Prince Harryand when family crises bring people together

"Yeah, I'm sure. Throughout all these families, I see it on a day-to-day basis, the strength of the family unit coming together," he said, referring to the families he met at the Invictus Games site in Vancouver on Thursday. "I think any illness, any sickness brings families together."

In May, Harry attended his father's coronation, although, after the ceremony, he did not join his family on the balcony of Buckingham Palace. His wife, Meghan, stayed in California, where they live with their children. The two announced they would step back from the British royal family in 2020 and later leveled allegations of racism in the family.

Prince Harry's tense relationship with King Charles, Prince William

Harry discussed his relationship with the royal family in his memoir "Spare," published in January 2023, accusing them of providing unflattering information about other members to the press in exchange for positive coverage. He also recalled his father and brother, Prince William, saying didn't know why he left.

"If they didn't know why I'd left, maybe they just didn't know me," he wrote. "At all. And maybe they never really did. … How can I tell them? I can't. It would take too long. Besides, they're clearly not in the right frame of mind to listen. Not now, anyway. Not today."

In an interview with ITV in 2023, Harry said he hoped to reconcile with Charles and William after their rift but alleged that "they've shown absolutely no willingness to reconcile."

But Harry also told "60 Minutes," "I look forward to having a relationship with my brother. I look forward to having a relationship with my father and other members of my family."

Contributing: KiMi Robinson, Erin Jensen, Brendan Morrow

King Charles IIIexpresses 'heartfelt thanks' for support after cancer diagnosis