Zara Phillips
Royal Zara Phillips made Olympic equestrian debut Reuters

Zara Phillips, the granddaughter of Queen Elizabeth II, made her Olympic debut on Sunday, with several family members cheering her on from the stands.

The Duke of Edinburgh, the queen's consort and Phillips's grandfather, was joined by Phillips's mother Anne, Princess Royal, in the VIP seats to watch the 31-year-old compete in the eventing dressage competition at Greenwich Park.

Phillips rode her horse High Kingdom through the paces of a standard test and scored a respectable 48.10 penalty points. Cheers and applause erupted as she rode into the stadium and broke out again when she finished.

Robbie Renwick books place in 200m freestyle semis

Great Britain's Robbie Renwick has made it through to the semi-finals of the men's 200m freestyle. The 24-year-old clocked a time of 1:46.86 during the heats to finish an overall sixth and ensure passage to the last 16.

China's Yang Sun, who won gold in the 400m freestyle on Saturday, recorded the fastest time of 1:46.24, followed by the Ryan Lochte of the United States on 1:46.45. Team GB youngster Ieuan Lloyd finished sixth in the same heat as Renwick with a time of 1:48.52, but it was not enough to secure progression.

The men's 200m freestyle semi-finals take place at 7:37pm.

Team GB duo make 100m backstroke semis

Britain's Georgia Davies and Gemma Spofforth have qualified for the semi-finals of the women's 100m backstroke. Davies finished an overall sixth during the heats with a time of 59.92 seconds, while Spofforth came twelfth with 1:00.05.

Emily Seebohm of Australia, who won a gold medal with her country's relay team on Saturday, was the fastest during the heats with an Olympic record time of 58.23. Missy Franklin of the United States was second, finishing in 59.37 seconds.

The women's 100m backstroke semi-finals take place at 8:28pm.

Team GB's women lose in archery

Britain's women's archery team have been eliminated from the tournament after they lost to Russia 215-209

Team GB, which comprised of Naomi Folkard, Amy Oliver and Alison Williamson, had been in the lead for the majority of the match but their opponents edged ahead near the end. Russia scored an impressive 28 out of 30 with their final three arrows to see off Britain's challenge.

Folkard, Oliver and Williamson will now concentrate on the individual event which starts on Monday.