Lucas Philip Tindall, who is the Queen’s 10th great-grandchild, was born on Sunday, weighing 8lbs., 4oz., a rep for the couple tells PEOPLE.

Zara’s cousinPrince HarryandMeghan Marklealso reached out privately to congratulate the couple on their happy news, PEOPLE has learned.

Mike Tindall and zara tindall

zara and mike tindall

Recounting his wife’s birth on the episode, Mike explained that “fortunately,” Zara’s friend, Dolly Maude, was with them “and recognized that we wouldn’t have got to hospital in time.”

“So, it was run into the gym, get a mat, get into the bathroom, get a mat on the floor, towels down, ‘brace-brace-brace,’ " Mike, 42, said.

Laughing as he continued to recall the dramatic experience, Mike added: “Fortunately, the midwife, who was going to meet us at the hospital wasn’t that far away, so she drove up, got there just as we’d assumed the pos-ish [as he called the position]. And then the second midwife arrived just after the head had arrived.”

When asked if the couple’s daughters, Mia and Lena, were present for the unconventional birth, he said, “Zed [as he calls his wife] had contractions through the night — she hadn’t slept well the night before so we had someone take the kids for the day.”

Going on to talk about how his wife was doing following the birth, Mike explained that she “was a warrior as always. She was back up. We went for a walk [on Monday] morning with him. All good.”

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Lucas' middle name Philip is believed to be a joint tribute to both Zara’s grandfather,Prince Philip(who turns 100 in June), and Mike’s father.

Mike Tindall

Zara Tindall.David Hartley/Shutterstock

Zara Phillips

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“I think [Mia will] be happy about it. She has been requesting another sister or brother, so we’ve hopefully fulfilled that role for her. She just wants something different now,” he said. “Lena is growing up – she’s two-and-a-half now. She wants someone younger to play with and dress up.”

Before welcoming Lena, Zara, 39,endured two miscarriages— and wasopen about the “horrible road"she and Mike endured.

“In our situation, everyone knew. And very much when things like that happen, normally it’s just your family and friends, but unfortunately, everyone knew about it,” Zara said onBBC Breakfastback in 2018. “Actually I had so many letters saying, ‘I’m so sorry, we’ve been through the same thing,’ which was incredible — and thank you to all those people. But it just showed how often it does happen.”

Simon Perry

source: people.com