Elizabeth II's granddaughter gives birth to her son on the bathroom floor

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(CNN) -

Britain's Queen Elizabeth II has a new great-grandson, after her eldest granddaughter, Zara Tindall, gave birth at their home on Sunday night.

Her husband, Mike Tindall, who has been captain of the England rugby team, announced the birth during an episode of his podcast, "The Good, The Bad and The Rugby," published on Wednesday.

The baby was born on the bathroom floor of her home in Gloucestershire, southwest England, around 6 pm "It came very quickly," Tindall said.

"It was running to the gym, getting a mat, going to the bathroom, putting the mat on the floor, putting on towels and holding on," Tindall said.

Zara Tindall is the daughter of Princess Anne, the Queen's second daughter, and first cousin to Princes William and Harry.

Her baby is the queen's 10th great-grandson and 22nd in line to the throne.

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The baby, named Lucas Philip, weighed 8 pounds 4 ounces at birth, a spokesperson for the couple told CNN.

The couple's other two daughters, Mia Grace and Lena Elizabeth, weren't at the home Sunday for the newcomer, but have seen him since and are "over the moon," Mike Tindall said.

The midwife, who was supposed to receive them at the hospital, arrived quickly at the scene because it was not far away, arriving a second after "the head came out," Tindall added.

Zara feels healthy, she said, and has been out for a walk with the baby.

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"She was a warrior, as always, always are," Tindall said.

"We can never judge a woman in terms of what she has to go through when giving birth."

She said there were advantages to giving birth at home.

After Lucas arrived, Tindall watched an old rugby game and a little golf with his new son.

Zara Tindall is an accomplished horsewoman who won a silver medal in a team event at the 2012 London Olympics.

She met her future husband during the 2003 Rugby World Cup when he was playing for England.

The couple married in Edinburgh in 2011.

CNN's Amy Cassidy contributed to this report.