Kate Middleton and stepmother-in-law Camilla Parker-Bowles spent the day together, cheering Zara Phillips on, along with other members of the royal family, as the Queen's granddaughter competed in the equestrian individual and team eventing at the London 2012 Olympic Games.

Kate and Camilla were clearly enjoying themselves throughout the event, sharing jokes and peals of laughter. They parted on excellent terms, kissing each other goodbye.

The event, held at Greenwich Park, saw the royal family turnout in force - Prince William, Prince Harry, Princess Anne, Princess Eugenie, Princess Beatrice and Prince Philip - to show their support for Phillips, who finished the day in joint tenth place, with a penalty score of 46.10.

Zara Phillips, the daughter of Princess Anne, is an accomplished equestrian and is making her Olympics debut this year; she missed the Beijing 2008 Games because her horse, Toytown, suffered an injury during training sessions. She is now competing with her new horse, High Kingdom. Phillips later described her Olympic debut in glowing terms, calling it an "amazing feeling".

"It was incredible, an amazing feeling to be part of the Olympics and to ride for your country and to just be here. The crowd are amazing," she said, according to an official statement by London 2012.

This may be her first ever Olympics but Phillips gave her family and the nation something to cheer about, after Team GB took silver in the team eventing final early on the morning of 31 July, with Kate Middleton, Prince William and Prince Harry in attendance to cheer their cousin on.

"My horse is such a dude. He lost a front shoe, so he really stepped up today. The course was very suitable for him," an elated Phillips was quoted as saying by the BBC, after clearing the course in nine minutes and 56 seconds, the fifth fastest time of the day.

Veteran equestrian Mary King (on Imperial Cavalier), William Fox-Pitt (on Lionheart), Nicola Wilson (on Opposition Buzz) and Kristina Cook (on Miners Frolic) were the other members of the team that finished second, scoring a penalty of 138.20 to Germany's 133.70. The New Zealand team claimed bronze with a penalty of 144.40.

Check out photographs of the Kate Middleton, the Duchess of Cambridge; Camilla Parker-Bowles and the rest of the British royal family, as they cheered Phillips on in the cross-country and jumping events...