Princess Anne's Children Zara and Peter Step Out for First Time Following Her Hospital Release

The Princes Royal's kids were seen for the first time since she left the hospital following a horse-related accident

Zara Tindall and Peter Phillips made their first public appearances at separate sporting events after their mother Princess Anne left the hospital following a horse-related "incident."

Over the weekend, the Princess Royal's two children were seen for the first time since she returned home from the hospital on June 28. Princess Anne, 73, sustained a concussion and minor injuries in a horse-related accident at her Gatcombe Park home on June 23 and was hospitalized as a "precautionary measure," Buckingham Palace said. Five days later, PEOPLE confirmed that King Charles' sister returned home to recuperate.

The Princess Royal shares her two adult children with her first husband, Captain Mark Phillips. Zara and Peter each spent some of the weekend pursuing sporty interests in Northamptonshire. The county is about two hours from Gloucester, home of Gatcombe Park.

Zara, 43, who follows in her parents' footsteps as a competitive equestrian, saddled up for the Aston Le Walls International eventing competition on July 7.

Related: Royal Family Removes Princess Anne's Next Engagement Following Hospitalization for Horse 'Incident'

Meanwhile, Peter, 46, was seen at the British Grand Prix at the Silverstone Circuit on July 6 and 7. Queen Elizabeth's eldest grandchild appeared without his new girlfriend Harriet Sperling, who he has been linked to since the spring. In April, Peter split from Lindsay Wallace, his partner of three years, in April. He was previously married to Autumn Kelly, with whom he shares daughters Savannah, 13, and Isla, 12.

Princess Anne and Captain Mark reportedly rejected the offer of hereditary titles for their children when their eldest was born in 1977, and their kids grew up to pursue private careers — Peter in sports and event management, and Zara in the horse world. Peter spoke about how his parents' were "hugely influential" to him and his sister through their "work ethic" in a wide-ranging interview withSky News Australia in March, and Princess Anne's accident in late June has officially sidelined one of the hardest-working members of the royal family.

On June 24, the palace announced that Princess Anne had been injured in a horse-related accident at Gatcombe Park, her country home, the day prior.

"The Princess Royal has sustained minor injuries and concussion following an incident on the Gatcombe Park estate yesterday evening. Her Royal Highness remains in Southmead Hospital, Bristol, as a precautionary measure for observation and is expected to make a full and swift recovery," they said in a statement.

"The King has been kept closely informed and joins the whole Royal Family in sending his fondest love and well-wishes to The Princess for a speedy recovery," they continued.

Related: When Will Princess Anne Return to Her Royal Work After Hospital Stay for Concussion?

Because of the concussion that the Princess Royal sustained, the exact details of the accident are unable to be ascertained. However, her injuries are consistent with a potential impact from a horse's head or legs.

On June 25, The Telegraph reported that the royal suffered memory loss, thought to be temporary, relating to the incident.

The royal was discharged from the hospital on June 28, and her husband, Vice Admiral Sir Timothy Laurence, thanked the Southmead Hospital team for "their care, expertise and kindness" during her stay. Princess Anne married Sir Tim in 1992 following her divorce from Captain Mark earlier that year.

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It's understood that Princess Anne will continue to rest at her Gatcombe Park home and resume royal duties when her medical team determines it is safe. No further details about her return to duty have been released.

The Royal Diary section of the royal family's website currently lists Anne's next engagement as happening next week. The public record of working royal family member's future plans currently says that she will visit the NLV Pharos ship off the west coast of Scotland in her role as Patron of the Northern Lighthouse Board on July 15 and 16.

A previously scheduled engagement for Princess Anne next week has been removed from the Royal Diary as she continues her recovery.

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