A friend says the Duke of Sussex is hesitant to step out with his children out of concern for their safety

Prince Harry and Meghan Markle are keeping Prince Archie and Princess Lilibet out of the limelight over concern for their children’s safety.

As Harry fights for increased security for their family of four, the echoes of the 1997 death of his mother, Princess Diana, in a high-speed car chase weighs heavily, particularly now that he is a parent.

“Harry hs been reluctant to show his children publicly, not out of a desire to hide them but to protect their privacy and safety from potential threats,” a friend tells PEOPLE in this week’s exclusive cover story. “He wants them to lead as normal a life as possible without the fear of kidnapping or harm.”

The friend adds, “As a dad and husband, Harry is determined to ensure that history doesn’t repeat itself.”

Multiple well-placed insiders in Prince Harry’s circle tell PEOPLE that the Duke of Sussex believes his father, King Charles, has the power to reinstate his security Buckingham Palace will not comment on security provisions, but a palace source tells PEOPLE the notion that Harry’s security is in the King’s hands is “wholly incorrect”

The issue has shifted their conversation from frustration to “complete silence” from the King, says the friend.

The Duke of Sussex has also taken the battle to court, where he lost his bid to restore his taxpayer-funded security earlier this year. (He has plans to appeal.)

Exactly what is stopping Harry from securing the protection he seeks is a matter of bitter contention. Constitutionally, King Charles has no governmental power in the U.K., and the power to bestow police protection lies with the Executive Committee for the Protection of Royalty and Public Figures (RAVEC), which operates on behalf of the U.K. government.

With both sides firmly entrenched — and Harry’s brother Prince William seemingly aligned with their father — any hope of reconciliation appears distant at best.

Despite the discord, Harry “doesn’t want to fight about this anymore. He wants to have a relationship with his family,” a friend says.

For her part, Meghan, 42, “supports Harry 100 percent, but she wishes he could let go of these lawsuits, be happy and live in the moment,” according to a former employee of their Archewell Foundation.

“She wants him to be free of all of this, but she also knows that because of everything he’s been through and his love for [her and their children], he can’t. She wants him to live in a world where he is not burdened by this,” says the former staffer.