Markle stunned in a white and red toile-print dress and red sandals at the event.
She discussed her early bond with her co-stars and Rachel's character arc during the show's panel, according to People.
"We all lived in the same corporate housing. So on top of working together we were living together, which makes a whole different dynamic, I think. We just became this whole family right out of the gate," the star shared.
"[Rachel's] worked so hard and I love that, as a role model, how she's been crafted to balance it all," she added. "She's really earned that spot [as an associate]."
"Suits" will return for a seventh season July 12, and air its 100th episode Aug. 30.
Adams, who portrays Mike Ross, will direct the milestone episode.
"I couldn't be more excited and honored to be directing the 100th hour of 'Suits,'" the actor said in a statement to E! News. "We are blessed on this show with an incredible crew and an absurdly talented group of actors and writers."
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