As a less senior member of the royal family, Zara Tindall and her brood are able to enjoy some down time without being constantly hounded by the press.
But at the recent Whatley Manor International Horse Trials in Gatcombe Park, the Queen's eldest granddaughter and Olympian not only competed in the equestrian event but also had an ice cream date with her five year-old daughter Mia.
Dressed in a navy polo shirt and white trousers, the royal mum-of-two was seen with her daughter at the ice cream truck, purchasing a cone topped with a chocolate flake.
The cheeky five-year-old looked delighted as she held her mother's hand and tucked into her sweet treat and was also snapped playing an impromptu game of soccer.
She really is following in her sporty parents' footsteps!
Zara's husband Mike Tindall and their one year-old daughter Lena were also present at the event and Zara was even seen to plant a kiss on her husband's lips.
The couple who have been married since 2011 have never been shy about indulging in a little affection and it's one of the reasons we love them so much as a couple!
Having won a silver medal at the 2012 London Olympics as part of the Great Britain Evening Team and a gold medal at the 2005 European Eventing Championships in 2005 and a silver medal at the 2006 World Equestrian Games, Zara is quite the accomplished horse rider.
Riding her beloved horse Gladstone, the 38 year-old looked at ease as she competed and was also seen having a chat with her mum and fellow equestrian, Princess Anne.
Seeing as the venue for the equestrian event is part of Princess Anne's Gloucestershire estate where the Tindall family has their own cottage, it's not too surprising that the Princess Royal was in attendance to support her daughter.
Princess Anne is one devoted grandmother- just last month the Queen and Prince Philip's only daughter was spotted at the same location attending the Gatcombe Festival of Eventing doting on her four grandchildren.
Not only were the four Tindalls there but Mia and Lena's cousins Savannah and Isla Phillips were also seen frolicking in the sunshine with Mia sporting some bright face paint.
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Zara and Mike's refreshing approach to parenting is a far cry from traditional royal protocol and while the couple aren't as traditional as some of her family members, Zara admitted there's one thing she would be horrified by if either of her daughters did.
Speaking to Saga magazine, the mother-of-two said: "I'd also rather one of my daughters came home with a piercing than a tattoo because at least a stud can be removed.
"I wouldn't have a leg to stand on if they did though."