Princess Charlotte was accompanied by her parents Prince William and Kate Middleton at Prince Philip’s memorial service at Westminster Abbey today – and the young royal shared a sweet exchange during the ceremony with Princess Beatrice

The memorial service for the late Prince Philip brought together nearly all members of the Royal Family to honour their much-loved relative.

And it wasn’t just the late Queen, her children and her grandchildren that were at the ceremony at Westminster Abbey this morning. Also in attendance were some of the youngest royals, including the Duke and Duchess of Cambridge’s children Prince George and Princess Charlotte.

The Cambridge family sat near the front of the Abbey in a row in front of Prince William’s cousins Princess Beatrice and Princess Eugenie, who were accompanied by their husbands Edoardo Mapelli Mozzi and Jack Brooksbank.

And an adorable moment was spotted between Charlotte and Beatrice as the congregation sang a hymn. Footage shows that as Charlotte gazed around the huge building as the congregation sang, the young princess caught the eye of Beatrice behind her. As the pair locked eyes, Beatrice gave an exaggerated smile to Charlotte, who in return gave a wide smile back to her dad’s cousin.

After spotting the moment on TV, royal fans took to Twitter to share their delight at the cute moment. One wrote: “Aw I have a feeling they have always had a lovely relationship! A pic from Eugenie’s wedding comes to mind.” While another said: “Looks like Charlotte looks up to her. Bless.”

However, it wasn’t the only sweet moment Charlotte had at today’s ceremony – she also said hello another of the Queen’s young great granddaughters, Mia Tindall. As Charlotte left the service alongside her parents William and Kate, Zara could be seen pointing out the young princess to Mia, who was sat beside her. And as they passed each other, Mia gave her younger relative a huge wave as they left the service.

Charlotte, Mia and their siblings have all been pictured together at events in the past with Prince William seemingly having a close relationship with his cousin Zara. The young royals were led at the service by the Queen, who arrived at Westminster Abbey arm-in-arm with her son Prince Andrew to pay a final tribute to her beloved husband Prince Philip, despite concerns she wouldn’t be able to attend for health reasons.

Dressed in a dark green coat, the Queen used a walking stick as she took her seat in the front row of the packed abbey, next to Prince Charles and Camilla. The Queen only made the final decision to attend on the morning of the service and special arrangements were put in place for her comfort.