Commenting on one outing of Princess Anne with her grandchildren, Judi said: “Anne has actually made herself lower than her granddaughter here to show full, undivided and very doting attention.

“The kiss is wonderfully revealing of Anne’s tactile, loving side, and the way both she and her granddaughter perform it suggests it’s a regular feature of their relationship.”

Judi added Princess Anne and Zara seem to encourage the royal children to show their “playful” side and not worry about royal protocol.

She added: “All children love to play swings between two adults and Anne chats to Zara here while allowing her granddaughter to play between them.