The Olympic equestrian, 32, has been married to rugby player Mike Tindall, 33, since July 2011.
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A simple statement from the press secretary to Queen Elizabeth, released Monday morning, says, "Mr. and Mrs. Mike Tindall are very pleased to announce that Zara Tindall is expecting a baby in the New Year.
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"The Princess Royal and Captain Mark Phillips, Mr. Phillip and Mrs. Linda Tindall, and members of both families are delighted with the news."