Princess Anne's Coronation Role Honors 'Close' Bond with King Charles, Zara Tindall Says (Exclusive)

Zara tells PEOPLE why her mother's role in the Coronation Procession following the crowning ceremony was so special

As she has through life, Princess Anne supported King Charles on his coronation day.

The Princess Royal, 72, attended the crowning of her elder brother the King and Queen Camilla on Saturday at Westminster Abbey, and she saddled up as Gold-Stick-in-Waiting for the celebratory procession after. Riding on horseback behind the King and Queen in the storybook Gold State Coach, Princess Anne led 6,000 armed services personnel to Buckingham Palace — a thoughtful honor reflective of the tight bond she and King Charles share, her daughter Zara Tindall exclusively tells PEOPLE.

"It's a busy time for them all, and her and her brother are very close, so it's a nice thing to do," the professional equestrian told PEOPLE before coronation day.

Related:How King Charles' 70-Year Wait Prepared Him for the Throne 'Better Than Any Previous Monarch'

A love of horses has run in the royal family for generations, and late matriarch Queen Elizabeth was a great horsewoman like her only daughter and eldest granddaughter.

"Our horse are in our family, so there's always discussions about performances and things like that. There's horses in her life, and she does a bit of breeding as well. So there's always horse conversation going on," Zara told PEOPLE of the shared passion.

Before the Princess Royal trotted into the spotlight in the coronation parade, Zara said her family would certainly be thinking of their late matriarch on May 6.

"Obviously, we're going to miss her very much," she said of her grandmother Queen Elizabeth.

Related:Every Photo from the Coronation of King Charles III

While other members of the royal family traveled from Westminster Abbey to Buckingham Palace in carriages, Princess Anne was the only royal on horseback for the 1.3-mile Coronation Procession.

The prestigious Gold Stick position, which she's held since 1998, dates back to the 15th century when two officers — a Gold Stick and a Silver Stick — kept close to the monarch to protect them from harm. Processing on horseback was fitting for the lifelong equestrian, who rode in the Olympics and remains involved in the horse world today.

"I have a role as the Colonel of the Blues and Royals in the Household Cavalry regiment as Gold Stick [in Waiting]. And Gold Stick was the original close protection officer. So that is a role I was asked if I'd like to do for this coronation, so I said yes," Princess Anne told CBC News before the big day.

"Not least of all, it solves my dress problem," she joked.

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!

More seriously, she reflected, "There is so much in that [coronation] service which you really have to do, that is fundamentally important, and is the meaning of the coronation in every way. It's not just a big ceremony. It is a very essential part of the responsibilities of the crown."

In another acknowledgment of her devotion to duty, British Parliament named Princess Anne a Counsellor of State over the winter, meaning she can carry out constitutional duties for King Charles if he is abroad or unwell. Prince Edward, Duke of Edinburgh, also received the honor.

King Charles' coronation story — and the lifelong road to the throne — covers this week's exclusive issue of PEOPLE, which explores how he is uniquely suited for the new challenge.

"He's known his country, and indeed the world, better than any previous monarch because he's traveled…far and wide," says Paddy Harverson, Charles' former communications secretary, tells PEOPLE. "He has built up a huge amount of knowledge, experience, wisdom and connections, and he will bring all of that to the job."

For more People news, make sure to sign up for our newsletter!

Read the original article on People.