Zara and Mike Tindall link fingers in sweet moment at Westminster Hall

Zara Tindall received a comforting finger squeeze from her husband Mike at Westminster Hall today after the procession for the lying in state of the Queen.

This touching gesture from her soulmate Mike, whom she married in 2011, was clearly a sign of comfort during today's emotional proceedings.

Public displays of affection, such as hand-holding, are fairly uncommon among Royal Family members but the Tindalls – not working royals – have always felt comfortable holding one another in front of the world. Similarly Meghan and Harry, also no longer working royals, frequently hold hands in public settings and at engagements and were today pictured holding hands as they left Westminster Hall following the emotional, 20-minute service.

Zara was also seen to be visibly upset when on a walkabout at Balmoral with other members of the Royal Family the day after the Queen's death last week.

As the only daughter of Princess Anne, 41-year-old Zara doesn't have a Royal title – a decision Princess Anne and then husband Mark Phillips made as they wanted to give their children (both Zara and her older brother Peter Phillips) as normal a life as possible.

As a mum-of-three herself, Zara and her husband Mike Tindall are renowned for leading relatively 'normal', fairly low-key lives, despite their impressive sporting careers. Mike is a former rugby union player and won 75 caps for England between 2000 and 2011.

Th couple have always been very open about their love both for one another and their children – and this latest display is another sign of the deep affection they share at a time when the country is in mourning.

Watch: Princess Eugenie and Zara Tindall shed tears as senior Royals inspect flowers at Balamoral