The Duke of Edinburgh has left hospital, 11 days after he was admitted for exploratory abdominal surgery.
Prince Philip looked in good spirits as he left the private London Clinic, after shaking hands with the staff that had looked after him.
He was then driven away from the private London Clinic, smiling and waving to well-wishers and gathered press.
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The 92-year-old has left hospital earlier than expected. He was told he would be recovering in the clinic for two weeks, but has been allowed to leave early after making good progress.
He will, however, need a further two months to fully recover, Buckingham Palace has revealed.
"The Duke is in good condition and good spirits. He'll take a period of convalescence, of approximately two months," a spokesperson for the Palace said.
"The Duke has expressed his thanks and appreciation to medical staff at the London Clinic and the many members of the public who have sent good wishes."
Philip will initially spend time at Windsor Castle, where the Queen is staying during Royal Ascot week.
Princes William and Harry joined Charles and Camilla as they visited the Duke of Edinburgh last Friday for the first time since he was admitted to hospital a week ago.
The Queen was also spotted visiting her husband after attending the Trooping of the Colour ceremony on Saturday.
It is the fourth time Philip has been admitted to hospital since Christmas 2011 and he is expected to resume engagements in the autumn.
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