Prince Harry said he's living the life Princess Diana wanted for herself

• Prince Harry said he thinks Princess Diana would be proud of him in the "The Me You Can't See."
• The Duke of Sussex believes he's living the life Diana wanted for herself.
• "I've never felt her presence more as I have done over the last year," he said.

Prince Harry said he has never felt Princess Diana's presence more than he has since stepping back from the royal family.

In episode five of "The Me You Can't See," the mental-health-focused docuseries he co-created and executive produced with Oprah Winfrey, the Duke of Sussex spoke candidly about what he believes Princess Diana would think of his decision to step back from the royal family.

"I have no doubt that my mum would be incredibly proud of me," he said. "I'm living the life that she wanted to live for herself, living the life that she wanted us to be able to live."

Princess Diana had a complicated and difficult relationship with the British press, much like her daughter-in-law Meghan Markle.

"Not only do I know that she's incredibly proud of me, but that she's helped me get here," Harry also said of his mother. "I've never felt her presence more as I have done over the last year."

The duke went on to say he wished his mother could have lived to meet his family.

"I wish she could have met Meghan," Harry said of his mother. "I wish she was around for Archie."

But the duke also shared that Archie knows his grandmother through pictures.

"I put a photo up in [Archie's] nursery and it was one of the first words he said, out from mama, papa, it was then grandma," Harry said in the episode. "Grandma Diana."

"It's the sweetest thing, but at the same time, makes me really sad because she should be here," he added.

In the docuseries, Harry shared that he started going to therapy after Markle helped him realize he needed help and that he struggled with panic attacks ahead of royal engagements for years because of his mother's death.

He said that counseling has helped him heal from his grief, as has helped others.

"Now I'm on my way to having healed that part of my life, those younger years, and having a clarity of perspective that I never, ever thought that I would get," Harry said. "I'm still the person that I was, but I'm just a better version of that."

"I kind of feel as though this was always meant to be," he said of his new life.

"The Me You Can't See" is available to stream on Apple TV+.