The messy scene was described by Mia's dad, Mike Tindall at an event for his charity, Rugby for Heroes.
Mike said: "I don't think Mia will remember that day - she was two months old. But it was great, it was carnage.
"George was eating at the time. He'd got to that stage where more food goes on the table than in his mouth.
"Mia was just chilling and sleeping; she sleeps a lot, she's quite relaxed."
Zara is very close to her cousin William, so Mia and George are sure to be childhood friends, but Mike said they have so far only met each other once because Prince William and Kate have been so busy.
Mike also said Zara was 'loving' being a mum and added about becoming a father: "Once you get to four months and they start smiling at you, when you get interaction your bonds grow more and more.
"Like this morning I was playing with her and she smiles if you do something funny and it makes you feel good about yourself."
The former England rugby captain added: "When you are sports people you are driven by being in the right physical or mental state to do this but when you become a parent that's not your main priority.
"Mia is your main priority and whatever you do you do for her. What's at the top of my decision making is what's going to be right so I can spend time with Mia."
Mike and Zara moved back onto Princess Anne's Gatcombe Park estate last year after selling their Cheltenham townhouse.
Not only do they have Zara's mum close by to help with baby Mia, but they also have her brother Peter, his wife Autumn and their two daughters Savannah, three and Isla, two.
Mike said: "It's great because they're just across the road. We've got Shetland ponies over at ours and Savannah and Isla are always over riding the horses so we get to see them all the time."