Zara and Mike Tindall dote on baby son Lucas and their daughters during family day out

Zara and Mike Tindall have been pictured doting on their three kids as they treated them to a fun family day out.

The family of five were spotted today at the Burnham Market International Horse Trials in Norfolk where Zara, the Queen's granddaughter, is competing.

The couple's older children Mia and Lena have been snapped supporting their mum at similar equestrian events in the past.

However, it's the first time that royal fans have had a proper glimpse of their one-year-old son Lucas, who was snapped smiling at mum Zara and playing in the grass with dad Mike.

The youngsters, who are grandchildren of Princess Anne and great-grandchildren of the Queen, appeared to be having a whale of a time as they rolled around on the ground with former rugby player Mike and had fun running around the show grounds.

Mike and Zara's daughters Mia and Lena were also at the event (PA)

Mike appeared to have his hands full with his two daughters (PA)

Lucas also enjoyed a cuddle with his dad Mike (PA)

At one point, the two older girls were almost taken out by a sheep that had escaped from a pen but luckily they jumped out of the way just in time.

Meanwhile, Zara was on hand to comfort young Lena, who at one point was picked up by her mum as she stuck out her lips.

The Burnham Market International Horse Trials run until Saturday, and will see riders compete in cross country, dressage and show jumping.

Lucas is held by his mum Zara (PA)

Zara comforts daughter Lena (PA)

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Zara, a former world champion equestrian, is taking part in the trials on her horse Class Affair - and has taken part in the event many times in the past.

Despite being part of the royal family, Zara and her children do not hold any royal titles and live a low-key life in Gloucestershire.

The family are often at equestrian events supporting Zara, a granddaughter of the Queen (PA)

Zara alongside her family and her horse (PA)

However, last month their oldest daughter Mia joined Zara and Mike along with older cousins Savannah and Isla Phillips at their great-grandfather Prince Philip's memorial service at Westminster Abbey.

In one sweet moment, eight-year-old Mia was caught on camera giving a cheeky wave to both Prince George and Princess Charlotte, who were also making a rare royal appearance.

Lena, aged three did not attend neither did younger brother Lucas, who arrived last year after being born in the family home.

Mike revealed the news of Lucas' birth on his podcast "The Good, The Bad and The Rugby" hailing his wife as a "warrior".

Mia and Lena jump out of the way of a runaway sheep (Terry Harris)

He said: "Fortunately Zara's friend Dolly is... actually more important than I am at making sure she's been at all three of my children's births, she was there and recognised that we wouldn't have got to the hospital in time, so it was run into the gym, get a mat, get into the bathroom, towels down, brace brace brace!"

He was baptised in an unprecedented double royal christening alongside Princess Eugenie's young son August.

The ceremony, which took place at All Saints Chapel in Windsor Great Park, was attended by various members of the Royal Family, including the Queen.