19 photos show Queen Elizabeth II and Princess Anne's special relationship over the years

The Queen and the princess shared a tight bond and often spent time together on royal getaways, per Us Weekly. Photos taken over decades of their lives showed their mutual interests and how they often accompanied each other to important events.

The royal couple welcomed their second child and only daughter just two years before the 24-year-old princess became Queen in 1952.

Following the Queen's accession to the throne, Princess Anne became second in the line of succession for the crown. After the birth of Charles' children and grandchildren and the death of the Queen, Anne sits at 16th in the line of succession, per Woman & Home.

A young Princess Anne held the Queen's hand as she walked around the estate with her family. Her platinum blonde hair contrasted with the Queen's deep brunette locks.

Anne and the Queen drove home to Buckingham Palace with Charles and the Queen's sister Princess Margaret after their summer vacation in Scotland in 1954. Anne sat next to her mother and gave a cheeky grin to the cameras outside.

Insider's Anneta Konstantinides reported that the Queen met with every sitting president except Lyndon B. Johnson during her 70-year reign, so it's unsurprising that Anne and Charles tagged along for a visit with a dignitary.

The Queen, Charles, and Anne were photographed enjoying the competition at the Badminton Horse Trials in Gloucestershire, England, when the princess was 10.

Both the Queen and her teenage daughter looked regal in similar coats, bags, gloves, and shoes as they arrived at Westminster Abbey for the wedding of the Marquess of Hamilton and Sacha Phillips.

During a state visit to Austria in the late 1960s, the pair were photographed smiling next to each other, emphasizing the similar features between the young princess and her mother.

In 1970, the Queen and Anne were seen boarding a plane together at Heathrow Airport in London before the start of a two-month tour through Australia and New Zealand.

The princess would go on to become one of the style icons of her family, by setting trends and wearing outfits outside royal norms. Anne's love of fun fashion may have been influenced by her mother, who was known to wear bolder silhouettes and floral prints in her 20s.

Town & Country Magazine describes Anne as a "famously outdoorsy, no-frills royal," evidenced by her notable equestrian career. The princess was the first member of the royal family to compete at the Olympics when she rode Goodwill — the Queen's horse — at the 1976 Montreal Olympic Games, per the royal family's website.

At the Queen's Platinum Jubilee in June, Anne was photographed feeding penguins at the Edinburgh Zoo, highlighting the love of animals she shared with her mother.

In an official family portrait from Anne's nuptials to her first husband, Mark Phillips, the Queen can be seen wearing a royal blue outfit as she stood to next to her daughter.

The Queen became a grandmother for the first time on November 15, 1977, when Anne's son Peter was born. At the baby's coronation the following month, the late monarch was pictured interacting with Peter as Anne held him in her lap.

Anne had one more child, Zara, with Phillips before they divorced in 1992. Even with two kids in tow, the Queen's daughter still spent time with her mother outside.

After a gunman shot and killed 16 students and a teacher at Dunblane Primary School in Stirling, Scotland, the Queen and Anne paid their respects and placed floral tributes on the ground outside.

Both women wore bright, festive colors and carried flowers as they talked following a Christmas Day church service in 2001.

Unsurprisingly, the Queen and Anne met beekeepers and toasted marshmallows with kids at an outdoor children's center in Glasgow, Scotland, according to Country Living.

In a statement shared with Insider Tuesday, the 72-year-old princess said it was "an honour and a privilege to accompany her on her final journeys." She added that she was present for the final 24 hours of the Queen's life.

"To my mother, The Queen, thank you," she wrote in conclusion.