Zara has been named as part of the Great Britain squad for the eventing competition at the World Championship Equestrian Games in France this August.
"Obviously I'm really excited, it's fantastic to be part of a team again, " said Zara, 33.
"We've got a bit of work still to do to get back to where we were last year but will have a few more outings to make sure we are right on target with our preparation but it's great to be back."
Zara will be riding High Kingdom - the same horse she rode during the 2012 Olympics, when they won silver in eventing.
The win helped Zara secure her place in the history books as the first member of the Royal family to win an Olympic medal, and she's hoping her trusty steed will bring her similar success this time.
"High Kingdom has improved each year and every time I've taken him to a big competition he's got better and better," she said. "He's felt good this year and hopefully will peak at the right time."
The way things are going Zara looks on course to achieve her goal of competing at the 2016 Olympics.
Good luck, Zara!