Zara Tindall and her brother Peter Phillips looked emotional as they took part in a touching 15-minute tribute to the Queen.

The siblings, whose parents are Princess Anne and Captain Mark Phillips, appeared alongside their six cousins for the vigil held at Westminster Hall. Zara stood at the bottom right-hand corner of the Queen’s coffin, while Peter on the bottom left-hand side.

During the vigil, Zara stood next to Prince Harry, at the base of the coffin, and Lady Louise Windsor, the daughter of the Earl and Countess of Wessex.

Meanwhile, Peter stood next to James, Viscount Severn and Lad Louise’s younger brother, on the other side of the Duke of Sussex.

Prince William led the royal party into the hall where the Queen is lying in state ahead of her funeral, following three taps from a soldier’s sword.

The royals stood in near-silence, keeping watch as members of the public flowed past.

Zara Tindall appeared emotional alongside brother Peter Phillips at a vigil for the Queen (Image: Sky News)

Vigils of the Princes are occasions in which members of the royal family stand guard (Image: PA)

At around 6.15pm, another three wraps of the sword were heard and the Queen’s grandchildren exited.

Princess Anne’s children were last seen at the Queen’s procession on Wednesday when she made her final journey from Buckingham Palace.

During that ceremony, Zara was spotted shooting her husband, ex-rugby pro Mike Tindall, a “look” as he appeared to break the silence that fell during the service.

The Mail on Sunday’s assistant editor Kate Mansey said: “As the procession got closer, obviously we couldn’t see it in the hall, but we could hear the bells tolling and the drums getting closer and closer and inside the hall was complete silence.

Zara stood at the bottom right-hand corner, while Peter stood on the bottom left-hand corner (Image: Royal Family)

Prince William led the royal party into the hall where the Queen is lying in state (Image: Royal Family)

“There was a moment of levity when Mike Tindall cleared his throat and Zara, kind of, shot him a look.”

The Queen’s grandchildren followed in the footsteps of their parents, who held a powerful vigil of a similar nature on Friday evening.

King Charles, the Princess Royal, Prince Andrew and the Earl of Wessex took part in the vigil as members of the public slowly filed past them.

Queues to see the Queen’s coffin as it lies in state in Westminster have grown miles long, with massive waits to get in.

King Charles and Prince William surprised royal mourners today as they made an impromptu stop near Lambeth bridge to meet people in the line.

Vigils of the Princes are occasions in which members of the royal family stand guard by a late monarch during their lying in state period.

This previously happened for King George V in 1936 and the Queen Mother in 2002 – however both occurences only featured male members.

Zara, along with Lady Louise and Princesses Beatrice and Eugenie, made history this evening by being the first female grandchildren to stand guard.