Zara Tindall took a tumble from her horse at the Burghley Horse Trials today as her husband and three children watched on. The 43-year-old daughter of Princess Anne was competing at the event in Stamford, Lincolnshire, when she fell during a cross-country event. She came off her horse Class Affair at Rolex Corners, knocking her out of the competition, but thankfully both Zara and her horse were unharmed.Just before, she was nearly unseated jumping into the Trout Hatchery but she managed to hold on. Zara’s fall comes just months after her mother, Princess Anne was kicked in the head by a horse.  Zara Tindall riding Class Affair during the cross country element of the Defender Burghley Horse Trials today Zara Tindall riding Class Affair during the cross country element of the Defender Burghley Horse Trials today  Zara Tindall on Class Affair, competing in the dressage event, during the Land Rover Burghley Horse Trials on Thursday The Princess Royal, 74, suffered a bruise under her left eye and ‘can’t remember a single thing’ about the incident on June 23. Anne was taken to hospital with minor head wounds and concussion but has since returned to royal duties. This is not the first time that Zara has fallen during the Burghley Horse Trials. In 2019, she was pictured tumbling from her horse during a showjumping event and she she has suffered several similar mishaps in previous years. Zara’s husband, former rugby union player, Mike Tindall joined her at the Burghley Horse Trials today along with their daughters Mia, 10 and Lena, six, and son Lucas, three. Mike, 45, was pictured carrying his youngest child through the grounds, before his six-year-old daughter clung to his arm to be lifted inches from the grass.The royal also stopped to take photographs with fans who spotted him on a day out with his family – snapped by his eldest daughter, 10-year-old Mia. Mike Tindall trying to lift daughter Lena from the floor after the siblings harmlessly play fight at the event today The Princess Royal, 74, suffered a bruise under her left eye and ‘can’t remember a single thing’ about the incident on June 23 Zara Tindall riding Class Affair during the cross country element of the Defender Burghley Horse Trials on Saturday  Lucas Tindall attends day three of the Burghley Horse Trials Princess Royal visits the Riding for the Disabled Association (RDA) on July 12  Lucas, three, shows off his Karate skills to his six-year-old sister Lena  Zara Tindall seen at the vets inspection at The Defender Burghley Horse trials on September 4Later in the day, Zara and Mike’s three children were clearly enjoying their day out, grabbing an ice cream and showing off their karate moves in the friends and family area.Mike was even seen spinning three-year-old Lucas in the air, after the youngster started a play-fight with his six-year-old sister, Lena.The 45-year-old was forced to break up the harmless fight which took place as they arrived at the event. Zara’s supportive husband Mike kept things casual in a white T-shirt and blue jeans at Burghley House, finishing his ensemble with a baseball cap and khaki backpack.Lena and Lucas were also dressed casually for the day, while their elder sister Mia was her father’s mini-me in jeans, a T-shirt and a baseball hat.The Defender Burghley Horse Trials is an annual three-day event typically held at Burghley House near Stamford in early September. Zara Tindall on Class Affair, competing in the dressage event on September 5 Mike Tindall was joined by his daughters Mia, 10, Lena (above), six, and son Lucas, three, at Burghley House near Stamford, Lincolnshire on Saturday afternoon Zara Tindall competing in the dressage event at the Burghley Horse Trials on September 5  Peter Phillips’ girlfriend Harriet Spelling catches Lucas Tindall as he fights with sister Lena Tindal Zara Tindall and her horse Class Affair are seen at the first horse inspection at the Burghley Horse TrialsZara is a serious international equestrian competitor, having garnered a gold medal at the European Eventing Championships in 2005 in addition to attaining a silver medal at the World Equestrian Games in 2006.She has previously been crowned BBC Sports Personality of the Year and has been nicknamed the Royal Olympian.