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Zara, 42, was effortlessly elegant in a green coat as she walked hand in hand with daughter Lena, five, and husband Mike. 45.
The mother-of-three and her husband Mike, who live in Princes Anne's Gatcombe Park estate in Gloucestershire, were interviewed by former rugby player Rob Burrow on his Total Sport podcast.
Long known as a straightforward kind of woman, Princess Anne found a very practical solution when things conspired to make her second marriage tricky.
Strictly's Angela Rippon was once accused of having an affair with Princess Anne's husband, in what she called a "dreadful time."
The King is expected to appoint an expert biographer to write up an official account of his late mother's life and reign.