Yesterday, Zara joined her mother, the Princess Royal, and her father Mark Phillips, currently Chef d'Equipe for the U.S. eventing team, for the opening of the equestrian festival.
The trio appeared in good spirits, with Captain Phillips pictured throwing a protective arm around his daughter, while his first wife Princess Anne cracked a joke before rubbing her nose.
She later changed into her dressage gear as she competed in the show with her London Olympics horse High Kingdom ahead of the World Equestrian Games in Normandy later this month.
Showing her daughter how it's done: Zara, was dressed casually for the day in a blue T-shirt and gillet. But she later changed into her dressage gear as she competed in the show with her Olympics horse High Kingdom
Like the Princess Royal and Zara, Captain Phillips has enjoyed enormous success in the world of equestrianism, beginning with his gold medal winning appearance at the Munich Olympics in 1972.
As well as Olympics success, he won the Badminton Horse Trials in 1971 and 1972 riding Great Ovation, in 1974 on Colombus, and in 1981 on Lincoln.
After he retired from the Army, he continued to style himself Captain Mark Phillips - which was allowed as junior cavalry officers whose civilian work involves equestrianism may continue to use their rank.
While Zara is yet to win Olympic gold, she will be hoping for a good performance in Normandy later this month, with Team GB selectors for Rio 2016 expected to be in the crowd.
She will, at least, have the support of her London 2012 teammates William Fox-Pitt, Tina Cook, Nicola Wilson and Mary King, who are also expected to compete in France.
The Festival of British Eventing takes place at the Princess Royal's Gatcombe Park estate in Gloucestershire, where Zara also lives.
As well as eventing, it features a shopping village, arena attractions and family entertainment.
Spectators: Peter and Autumn Phillips with their daughters Savannah and Isla and a friend at the festival
Catching up: Yesterday, Zara joined her mother, the Princess Royal (left) and her father Mark Phillips
(centre), currently Chef d'Equipe for the U.S. eventing team, for the opening of the equestrian festival
Out and about: Zara Phillips and her sister-in-law Autumn are pictured at the Gloucestershire festival yesterday
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