Zara Tindall puts on emotional display as she's supported by husband Mike Tindall and her father Captain Mark Phillips at day two of the Badminton Horse Trials

Zara Tindall was once again back in the saddle today as she competed at day two of the Badminton Horse Trials in Gloucestershire.

The King's niece, 42, was supported at the event by her father, Captain Mark Phillips, 75, and her husband, former England rugby star Mike Tindall, 45, whom she shares daughters Mia, ten, and Lena, five, and son, Lucas, three, with.

Dressed in her typical navy blue riding attire, Zara looked focused as she warmed up ahead of the competition at Badminton Estate, which started yesterday and runs until Sunday. 

She was pictured sharing a cuddle with her husband Mike during the occasion after chatting to her father Mark, who divorced Princess Anne in 1992 after 19 years of marriage.

Wearing white jodhpurs covered by her long, double-breasted coat, the royal finished off her look with a matching navy and white hat as she put her beloved gelding Class Affair through his paces at the event. 

Zara looked elegant in her navy attire and a pair of knee-high black riding boots as she attended the event.

Her illustrious riding career includes a gold at the European Eventing Championships in 2005 and a silver at the World Equestrian Games in 2006. 

Zara's outing comes after her cousin Prince Harry, 39, yesterday attended a service at St Paul's Cathedral in London to celebrate the 10th anniversary of the Invictus Games. 

No members of the royal family made an appearance at the Duke of Sussex's event, with Zara snapped at day one of the Badminton Trials. The King, meanwhile, was joined by several senior royals for a garden party at Buckingham Palace.

It comes after the monarch told his youngest son that he was too busy to see him during his fleeting visit to the UK before Harry heads to Nigeria where we will be reunited with his wife, Meghan Markle.

Queen Camilla, the Duke and Duchess of Edinburgh, the Princess Royal and the Duke and Duchess of Gloucester all supported the King at the garden party.

The only working royals missing from the Buckingham Palace event were the Prince and Princess of Wales - William had conducted an investiture in Windsor earlier in the day, while Kate is not undertaking public duties due to her health - along with the Duke of Kent and Princess Alexandra, who are both carrying out fewer engagements due to their increasing frailty.

While members of the royal family were notably absent from the Invictus Games Service, Harry's uncle the Earl Spencer and Lady Jane Fellowes - the younger brother and elder sister of Princess Diana - were in attendance.

Other notable guests included his cousin Louis Spencer, the Prime Minister's wife Akshata Murty and his lawyer David Sherbourne. Former army officer Mark Dyer, who helped mentor Harry, was also there.

Zara's appearance at the Badminton Horse Trials follows her attending the Windsor Royal Horse Show, where she was snapped embracing her uncle King Charles.

His Majesty, 75, who is currently undergoing treatment for cancer, made a surprise appearance at the event. 

The monarch's appearance marked his third public engagement in four days, as he returns to public-facing duties amid his illness.

Zara beamed as she greeted her uncle at the Berkshire event, appearing delighted to see him.

Meanwhile Charles himself looked happy to see Zara, the daughter of his sister Princess Anne, as the two enveloped one another in a big friendly hug.

Their affection is a sign of their close bond - and Zara is known for breaking royal tradition with her tactile displays, as also shown with her rugby star husband Mike. 

Body language expert Judi James previously described the bond between the uncle and niece as one of the 'sweetest and most uncomplicated' in the Firm, according to the Daily Express. 

She said: 'Unlike many of the people in the King's life, Zara seems to treat her uncle with unfiltered fondness and he seems to respond in kind.

'Their public displays of affection (PDAs) are legendary and the body language signals suggest they are always led by Zara, who seems untroubled by protocol, status or even Charles's customary avoidance of any touch rituals in public that go beyond a handshake.

'She seems purely keen to show everyone how determined she is to give this sometimes solitary and reflective man a hug.'

The two clearly get on and share a known passion for horses and equestrian sports, as Zara even won a silver medal at the London 2012 Olympics, as well as competing at events like this week's Badminton's Horse Trials.