The Queen's granddaughter and her six-month-old daughter enjoyed some time out of the day's activities with Autumn Phillips.
Autumn's eldest daughter Savannah Phillips was particularly happy to see Zara and Mia – the little girl was spotted entertaining her baby baby cousin and holding hands with her.
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Autumn, who also has two-year-old daughter Isla with Princess Anne's son Peter Phillips, couldn't resist giving her niece a cuddle as they watched the sporting events.
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Joining his extended family at Gatcombe Park was Viscount Severn, Prince Edward and the Countess of Wessex's son.
James, six, took a great interest in baby Mia and grinned happily as he played with his cousin Zara.
Stylish Autumn Phillips enjoys a day out at Ascot
Elsewhere on the Gloucestershire estate, Princess Anne spent time with her son-in-law Mike Tindall as they cheered on Zara during her events.
On Friday, the first day of festival, the family turned out together along with Zara's father Mark Phillips - Princess Anne's first husband
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The Princess Royal appeared in good spirits as she, Zara and Mark shared a joke while former England rugby star Mike took charge of Mia.