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Zara and Mike’s eldest daughter ran care-free through the fields at Gatcombe Park in Stroud, Gloucestershire on Sunday.
Wearing black skinny jeans and a white t-shirt the tomboy, aged four, was clearly not intimidated by her cousin Isla’s age, chasing the six-year-old and throwing her to the ground in humorous scenes.
She even looked like her rugby player father Mike, 39, when she was seen shoulder-barging Isla, pulling on her pink cardigan and trying to push her to the ground.
Isla didn’t seem too fussed by the tackle, and was seen taking turns to stroke a Jack Russell dog together by mother and father.
Isla, who is the daughter of Princess Anne’s son Peter and wife Autumn, is close to the Tindalls and has regularly been seen playing with Mia during family outings.
They were at the horse trials where Olympic equestrian Zara was competing less than three months after giving birth to baby Lena.
Mia was seen cheering on her mother as she rode horse Gladstone during the water jumps.
Later, Mia joined her parents and sister Lena, who was born in June, for a walk around the park.
Mia was seen peering into Lena’s pram as the family stepped through the grounds.
Zara has been competing through the weekend and was seen practising on Friday.
That morning, Zara, 37, told BBC Breakfast the pain of going through two miscarriages before she fell pregnant with Lena.
The 37-year-old royal told BBC Breakfast presenter Sally Nugent: “I think that’s the hardest thing in our situation, is that everyone knew.
“And very much when things like that happen, normally it’s just your family and friends, but unfortunately everyone knew about it.
“Actually I had so many letters saying ‘I’m so sorry, we’ve been through the same thing’, which was incredible – and thank you to all those people.
“But it just showed how often it does happen and I have a very supportive family, Mike’s incredible – and it’s hard for the guys too.
“It’s very different for us because we’re carrying the child, but for guys I guess it’s kind of that helpless feeling, which must be incredibly high and horrible for them.
“At the end of the day they’ve still lost a child too.”
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