Prince William and Zara Tindall shared a sweet cousin moment on the second day of Royal Ascot.

The Prince of Wales attended Royal Ascot sans his wife, Kate Middleton, who is still receiving cancer treatment. Since the Princess of Wales skipped the five-day event, he was joined by other members of the royal family, including his cousins. At one point, the heir apparent was photographed warmly embracing Princess Anne's daughter, Zara.

A lip reader spoke with Daily Mail and shared the exchange between the royal cousins. The expert claimed that Zara checked in on her cousin.

"Hi, lovely to see you, are you ok?" Zara reportedly asked Prince William.

"Yes, of course I am, it's wonderful," the Duke of Cambridge responded.

In another shot, she can be seen holding her cousin's arm. In a different photo, Zara affectionately adjusted Prince William's jacket.

Prince William and Zara were born 13 months apart and grew up together, so they formed a tight bond over the years. Also, they maintained their close relationship even after they got married.

The Tindalls and Waleses are incredibly close. Charles Rae, former royal correspondent for The Sun, previously appeared on GB News and said that the future king found a new brother amid his falling out with Prince Harry in the person of Mike Tindall -- Zara's husband.

"Yes, it is a wonderful thing to see. We've seen occasionally, throughout the year, we've seen a few pictures of Mike Tindall in situations, happy situations, laughing situations with Prince William and on Monday at Sandringham, we saw Mike Tindall with George, with his arm around him and George was looking up with all smiles and everything else," Rae shared.

"And Louis was walking down holding the hand of Mia Tindall. It just goes to show how close they are as families."

Kate Middleton, Prince william and Zara Tindall
Catherine, Duchess of Cambridge, Prince William, Duke of Cambridge and Zara Phillips are seen during the Diamond Jubilee, Buckingham Palace Concert on June 04, 2012 in London, England. For only the second time in it's history, the UK celebrates the Diamond Jubilee of a monarch. Her Majesty Queen Elizabeth II celebrates the 60th anniversary of her ascension to the throne. Dave Thompson - WPA Pool/Getty Images

He added, "Now, sitting back in Montecito is the real brother, and I should imagine if he's seeing scenes like that and reading things like what they've been having in The Telegraph. He's not going to be a happy bunny at all, but that doesn't matter. Tindall fills that gap that I think the Prince of Wales needs and he does it very, very well. Mike Tindall, he is a man's man. There's no question about that."

Prince William, Zara and Mike also bonded on Friday by watching Taylor Swift's concert at Wembley Stadium. The Prince of Wales brought along his two children -- Prince George, 10, and Princess Charlotte, 9. Mike and Zara were joined by their daughters Mia, 10, and Lena, 5. Prince William was visibly enjoying the show and was even caught on camera dancing to Swift's "Shake It Off."

Kate Middleton, Prince william and Zara Tindall
Members of the Royal family including Princess Eugenie, Peter Phillips, Prince William, Duke of Cambridge, Catherine, Duchess of Cambridge, Prince Harry, Mike Tindall and Zara Phillips leave a service of celebration to mark the 60th anniversary of the Coronation Queen Elizabeth II at Westminster Abbey on June 4, 2013 in London, England. Dan Kitwood/Getty Images
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Prince William, Zara Tindall