Who's the Daddy now? Zara lays down the law to her father at Badminton

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The Queen's granddaughter gave Dad – himself a four-time Badminton champion and now her coach – a playful prod with her riding crop as the family larked around between events.

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Taking it on the chin: Captain Mark Phillips gets on the wrong side of daughter Zara's whip

Zara shares a joke with her brother Peter

It was not the only bit of high jinks between the Royals: her brother Peter, 30, was spotted affectionately grasping their mother, Princess Anne, from behind as they anxiously watched 26-year-old Zara compete.

Zara had a good day in the cross-country section of Badminton yesterday, rising from 18th to 13th place on one mount, Glenbuck, and from 76th to 21st on her other horse, Ardfield Magic Star.

Gotcha: Peter hugs his mum Princess Anne

The glamorous royal and sportswoman on the cover of this month's GQ Sport