Meghan Markle/Instagram Meghan Markle and Prince Harry attended James Taylor's concert on Tuesday, May 13 Taylor, 77, signed copies of his children's bookSweet Baby Jamesas a gift to the couple The Duke and Duchess of Sussex were recently spotted at a Beyoncé concert Meghan MarkleandPrince HarrypaidJames Taylora visit backstage on Tuesday, May 13. The Duchess of Sussex, 43, shared a series of photos taken backstage onInstagramon Wednesday, May 14, writing, "In my concert era ❤️🎶 Thanks James!" In the first photo, Taylor, 77, is seen signing copies of his pop-up lullaby children's bookSweet Baby James, which was published in 2018. The book takes its name from Taylor's 1970 breakthrough album of the same name. The six-time Grammy winner previously revealed that the book and accompanying song, which he referred to as a "cowboy lullaby," were inspired by his young nephew James, who was named after him. The sweet gesture may have been a surprise for some little readers, as Meghan and Harry, 40, are parents to Prince Archie, 6, and Princess Lilibet, 3. Meghan wore a classic navy sweater and black skirt to the concert, while Harry wore a gray t-shirt paired with a herringbone gray peacoat, black jeans, a black belt and a gray beanie to match. Taylor is regarded as one of the most influential 1970s singer-songwriters on the West Coast of the era, having penned hit songs "Fire and Rain," "You've Got a Friend," "Carolina In My Mind" and more. The Duke and Duchess of Sussex recently shared that they attendedBeyoncé'sCowboy Carter Tourat SoFi Stadium in Los Angeles on May 9. In an Instagram post shared the next day, Meghan wrote, "About last night…. Thank you@beyonceand team for an amazing concert (and a very fun date night)! All love." The Instagram post included sweet photos of the couple enjoying the show, and a video where Harry is seen kissing Meghan on the cheek. Meghan later shared an image of a cowboy-inspired hat that Prince Harry wore to the show, which included a personal touch. Never miss a story — sign up forPEOPLE's free daily newsletterto stay up-to-date on the best of what PEOPLE has to offer, from celebrity news to compelling human interest stories. The hat's inside brim was monogrammed with the names ofthe couples' two children, Archie and Lili(short for Lilibet), along with "My Love" — Harry's nickname for Meghan. The couple tied the knot in2018. After stepping back from their royal duties, they relocated to Meghan's home state of California in 2020. The Duchess of Sussex recently embarked on a new era – the launch of her lifestyle brandAs Ever, which includes products that sold out the day the brand launched. Read the original article onPeople