Meanwhile, Mike Tindall gave a sword-wielding Prince George a lift!
Princess Charlotte and Prince George will welcome a new cousin – Meghan Markle and Prince Harry‘s baby! – any day now. Until then, they’re spending some time with other family members while enjoying the outdoors.
Kate Middleton and Prince William took their two eldest children to the Burnham Market international horse trials in Norfolk – not far from their country home Amner Hall, on the Sandringham estate – over the weekend, where they hung out with William’s first cousin Zara Tindall and her family.
The bond between Kate and nearly 4-year-old Princess Charlotte – who wore a skirt by kids’ designer Amaia – was on full display, with the little royal hitching a hide on her mom’s shoulders. Meanwhile, Zara’s older daughter, 5-year-old Mia. got a lift from Prince William. (She held onto his ears!) Zara’s husband, Mike Tindall, let 5-year-old George ride on his shoulders, with a firm grip the prince’s legs to ensure he was stable as he played with a toy sword.
Prince Louis, who will turn 1 this month, appeared to stay home, but Mike and Zara’s 9-month-old daughter Lena made an appearance. The older kids occasionally peered over to her stroller to check in.
Mia got competitive with her cousin of the same age, appearing to measure her height against his while hanging out at the annual equestrian event.
RELATED VIDEO: Kate Middleton Reveals She Wants Prince George and Princess Charlotte to Follow in This Tradition
George and Mia have been playing together at polo matches, family gatherings and summer weddings since before they could walk. Nearly four summers ago, they were the center of attention at a polo game at Beaufort Park club, in Gloucestershire, when George – clutching a toy tractor – and Mia were among cousins playing on a grassy bank.
More recently, George, Mia and Charlotte were all in the bridal party at Princess Eugenie and Jack Brooksbank’s October wedding.
George and Charlotte, who turns 4 on May 2, also enjoyed rides, slides and a turn in bumper cars as Zara, who won a silver medal in equestrian competition at the 2012 Olympics, competed at this year’s event.
- Can’t get enough of PEOPLE’s Royals coverage? Sign up for our newsletter to get the latest updates on Kate Middleton, Meghan Markle and more!
When Zara competed in the Gatcombe Park Horse Trials last month, many members of the royal family stepped out to cheer her on. It turned into weekend-long fun for Mia and first cousins Savannah Phillips, 8, and Isla Phillips, 6. The girls were all smiles as they chased each other in the grass and pet dogs, then cooled off with some ice cream.
And doting big sister Mia made sure to check on little Lena periodically.
“They all seem very close,” an observer of the scene in the country told PEOPLE. “The Phillips girls seem very taken with their new little cousin and I am sure they will with their new extra cousin when Meghan’s baby arrives.”