Princess Eugenie Shares Supportive Words for Royal Family After Rare Cousin Outing with Prince William

"Come rain or shine, I was delighted to support my family yesterday," the royal said

Princess Eugenie is reflecting on her surprise royal appearance alongside her cousin Prince William.

On May 22, the younger daughter of Prince Andrew and Sarah Ferguson shared an upbeat message about being there for family after a rare royal cousin outing at the Buckingham Palace garden party hosted by William the day prior.

"Come rain or shine, I was delighted to support my family yesterday to meet some special individuals at the Buckingham Palace Garden Party who have gone above and beyond to support their local communities and the country," Princess Eugenie, 34, wrote on Instagram.

Eugenie also shared a series of photos from the event on May 21, which Prince William, 41, hosted on behalf of his father, King Charles. The montage opened with a shot of Eugenie smiling with the day's must-have accessory — an umbrella! — and mingling in the rain alongside William, 41, her sister Princess Beatrice, cousins Peter Phillips and Zara Tindall, and Zara's husband Mike Tindall.

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Though he wasn't photographed at the event, Beatrice's husband Edoardo Mapelli Mozzi dropped a supportive comment on Eugenie's carousel with four clapping hands emojis.

Prince William tapped some of his cousins to help host the afternoon bash while his wife, Kate Middleton, remains outside of the spotlight while receiving cancer treatment. Though Queen Elizabeth's grandchildren often step out together in full force for family holidays like Christmas and Easter, Eugenie, Beatrice, Peter and Zara are not working members of the royal family like the Prince and Princess of Wales. Instead, they pursue private careers while supporting charitable causes.

The youngest of the cousins — Lady Louise Windsor, 20, and James, Earl of Wessex, 16 — were not pictured at the palace party, perhaps for a relatable reason: school!. Lady Louise is enrolled at the University of St. Andrew's in Scotland, where William and Kate famously met in 2001.

Related: Royal Cousins Princess Beatrice, Princess Eugenie and Zara Tindall Coordinate in Pink and White for Garden Party

Garden parties have been held since 1860 as a way for members of the royal family to connect with people "from all walks of life" who have made a positive difference in their communities, the royal family's website says. The guest lists are extensive — over 30,000 people are invited each year for the events held at Buckingham Palace and Palace of the Holyroodhouse in Edinburgh, the official residence of the British sovereign while in Scotland.

The festivities begin when the gates open around 3 p.m., and the party officially starts when members of the royal family arrive about an hour later. The national anthem rings out by one of two military bands on the ground, and around 27,000 cups of tea and 20,000 slices of cakes are reportedly served through the afternoon.

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Princess Eugenie was last photographed at a garden party at Buckingham Palace in May 2019 with Queen Elizabeth, Princess Beatrice and Prince Harry.

Last summer, a source told PEOPLE that the Duke of Sussex, 39, remains "so close" to Beatrice and Eugenie after stepping back from his royal role with his wife, Meghan Markle, in 2020 and relocating her home state of California.

"They're still the best of friends and talk constantly," a family insider told PEOPLE about the cousins.

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