2012 Olympic eventing silver medalist and 2006 World Champion Zara Phillips, 32, gave birth to a baby girl today, Jan. 17, at Gloucestershire Royal Hospital in Gloucester, Great Britain, with husband Mike Tindall at her side.

The baby, Mia Grace, was 7 lbs. 12 oz. She is the Queen of England’s fourth great-grandchild but will not bear a royal title and is 16th in line for the throne. Phillips and her daughter have returned home to her mother, Princess Anne’s, Gatcombe Park estate.

Phillips had been reluctant to give up competitive riding while pregnant but ultimately decided to take a break until the baby arrived. According to The Telegraph, Phillips hopes to compete at the Badminton Horse Trials (Great Britain) in May and the Alltech FEI World Equestrian Games (France) in August with her sights set on the 2016 Olympic Games in Rio de Janeiro.