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

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's eldest daughter

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

.

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.

Joining his extended family at Gatcombe Park was

,

's son.

Zara teasing her young cousin James

James, six,

and grinned happily as he played with his cousin Zara.

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

as they cheered on Zara during her events.

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

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.