See Prince George's Sweet Moments on Christmas with Zara and Mike Tindall

The royal family's Christmas Day outing was full of little moments that showed their close bonds.

Kate Middleton and Prince William's family seemed especially close to his cousin Zara, her husband Mike Tindall and their children.

After the Christmas church service, the royals greeted well-wishers gathered outside and accepted small gifts such as flowers. As they headed back to Sandringham House for their holiday lunch, the Prince and Princess of Wales' eldest child, Prince George, was spotted walking with Zara and Mike. As seen in a YouTube video shared by Callan Taverner, Zara affectionately stroked George's head and put her arm around his shoulder as they chatted.

A sweet moment between Prince George and Mike was also captured by onlookers, where Mike put an arm around the 10-year-old future monarch and pulled him in close for a hug while walking.

Zara and Mike's daughter Mia, 9, walked into the church service holding hands with her cousin Prince Louis, 5, and was spotted chatting with Princess Charlotte, 8, afterward. At one point, Prince William was also seen holding hands with Mia.

Meanwhile, Mike and Zara kept a close eye on their 5-year-old daughter Lena. Their 2-year-old son, Lucas, didn't join them for the Christmas church outing, likely too young for the event.

In another adorable interaction between the two families, Princess Kate was seen handing Mia a bouquet of red roses that had been given to her by a well-wisher.

The Prince and Princess of Wales' family and the Tindalls have been close for years, and they've been seen getting together for playdates.

In June 2022, Mike had a funny interaction with Prince Louis at the Platinum Jubilee Pageant. Cameras caught the former professional rugby star giving Louis the "I'm watching you" gesture.

On an episode of The Good, The Bad and the Rugby podcast, Mike talked about the moment.

"I actually can't remember, I can't remember what he was doing," he said. "He's such a good character he is, Louis."

Mike previously talked on the podcast about having a front-row seat to Prince Louis' antics at the event, which was celebrating Queen Elizabeth's historic 70 years on the throne.

"It's tough for them. They're all young. It's a long time," the athlete said. "But as any parents know, you just do whatever needs to be done."

He added, "Louis, he was just wanting to have fun. And my two [daughters, Mia and Lena] are always mischievous, so it's trying to keep a lid on. There were a lot of sweets out back though, so there was a real sugar high."

Royal watchers also got a further glimpse at Mike's relationship with the royal family when Prince William, Princess Kate and Princess Anne appeared on his podcast to talk rugby. During the chat, Mike revealed that he's seen Kate's competitive nature come out while playing beer pong.

Mike recently teased Prince William as well, sharing that he calls the heir "One Pint Willy" because "he's not the best of drinkers."

Can't get enough of PEOPLE's Royals coverage? Sign up for our free Royals newsletter to get the latest updates on Kate Middleton, Meghan Markle and more!

In 2021, Prince William gave some more insight into his Christmas traditions while appearing on a radio show, including seeing his children spend time with their relatives.

"For me, generally, bringing the family together at Christmastime is always lovely because we're quite spread out doing our things a lot of time throughout the year. We get very few moments to actually come together," the Prince of Wales, 41, said. "When I see my children meet up with my cousin's children, and they all have a wonderful time playing together, it's very special. I look forward to that a lot."