The two couples were seen chatting and mingling with other guests on Saturday as the annual horse racing event took place.
On Saturday, they attended the Magic Millions Racing Women Awards and the Magic Millions Gold Raceday.
For the awards ceremony, Zara looked stunning in a blue midi dress by Rebecca Valanch. For the race day, she opted for the same designer again, wearing a navy mini dress with two silver bows on the side pockets.
She accessorised the navy with silver accessories and shoes.
Mr Figueras is said to be quite close to the Sussexes.
He first met Prince Harry during a charity fundraiser in 2007 and has been pictured alongside him several times.
His wife was featured in the Duchess’s Netflix series, With Love, Meghan.