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Mia Tindall charms mum Zara and aunt Autumn Phillips at Gatcombe Park

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Zara Tindall

and her daughter Mia spent Saturday in the company of close family at the Festival of British Eventing at Gatcombe Park.The Queen's granddaughter and her six-month-old daughter enjoyed some time out of the day's activities with

Autumn Phillips

.Autumn's eldest daughter

Savannah Phillips

was particularly happy to see Zara and Mia – the little girl was spotted

entertaining her baby baby cousin and holding hands with her

.

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Autumn Phillips and Zara Tindall enjoying time with baby Mia

Autumn, who also has two-year-old daughter Isla with Princess Anne's son Peter Phillips, couldn't resist giving her niece a cuddle  as they watched the sporting events.

Relive the beautiful wedding of Zara Phillips and Mike Tindall

Joining his extended family at Gatcombe Park was

Viscount Severn

,

Prince Edward and the Countess of Wessex

's son.

zara 2
Zara teasing her young cousin James

James, six,

took a great interest in baby Mia

and grinned happily as he played with his cousin Zara.

Stylish Autumn Phillips enjoys a day out at Ascot

Elsewhere on the Gloucestershire estate, Princess Anne spent time with her son-in-law

Mike Tindall

as they cheered on Zara during her events.

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Princess Anne with Zara and her father Mark Phillips

On Friday, the first day of festival, the family turned out together along with Zara's father Mark Phillips - Princess Anne's first husband

Zara Phillips and Tom Cruise bring glamour to Glorious Goodwood

The Princess Royal appeared in good spirits as she, Zara and Mark shared a joke while former England rugby star Mike took charge of Mia.

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