Peter and Autumn Phillips join James and Pippa Middleton to support the Invictus Games

and

joined

and

at

on Friday night,

.

and his wife sat next to

's siblings as they watched a round of wheelchair rugby at the Queen Elizabeth Olympic Park in London.The match was no ordinary one, however, as making up the teams were

and

as well as former Olympic stars including

and

.

Pippa and James supported their sister's brother-in-law as he scored the game's first goal, while Peter cheered on his sister Zara, whose husband

was on the opposing team.The couple, who welcomed their first child Mia Grace Tindall in January, still

.

Prince Harry scored the game's first goal

Clearly thrilled by the night's sporting activity and by the work of his cousin Harry in putting on the four-day event, Peter tweeted a message of congratulations to those who are involved in the Invictus Games.

he wrote.