The 75-year-old monarch "is grateful for all the kind messages he has received in recent days," the palace said
"The King was this afternoon discharged from hospital following planned medical treatment and has rescheduled forthcoming public engagements to allow for a period of private recuperation," Buckingham Palace said in a statement.
"He would like to thank the medical team and all those involved in supporting his hospital visit, and is grateful for all the kind messages he has received in recent days," the statement continued.
Charles left the hospital's front entrance alongside his wife, Queen Camilla, waving to the gathering crowd outside as he walked to his awaiting car.
The King, 75, was admitted to The London Clinic, the same hospital where Kate Middleton underwent abdominal surgery, on Jan. 26. The monarch visited his daughter-in-law before his own procedure. The Princess of Wales was also discharged from the hospital on Monday to continue her recovery at home in Windsor following a 13-day stay in the hospital.
Queen Camilla briefly spoke about her husband’s health on Friday evening as she left the private hospital, where well-wishers were gathered outside. He's fine, thank you," Camilla, 76, said about Charles as she headed to her car, according to ITV's Chris Ship.
Buckingham Palace announced on Jan. 17 that the King was seeking treatment for an enlarged prostate, and would head to the hospital the following week for the “corrective procedure.” His condition was described as benign.
“In common with thousands of men each year, The King has sought treatment for an enlarged prostate. His Majesty's condition is benign and he will attend hospital next week for a corrective procedure,” said the palace statement on Jan. 17. “The King’s public engagements will be postponed for a short period of recuperation.”
A royal source tells PEOPLE that King Charles would be capable of fulfilling his constitutional requirements and duties during this time, meaning that Prince William would not be expected to act as regent.
It's understood that the King wanted to share his diagnosis to encourage men who may be experiencing symptoms to get checked, and his openness has already made an impact. The National Health Service of the U.K. said the palace announcement on Jan. 17 prompted a 1,000% surge in searches about prostate enlargement on its website. The NHS says that benign prostate enlargement is common in men over age 50 and is usually not a serious threat to health.
PEOPLE understands that King Charles visited his daughter-in-law at the London Clinic before his own surgery. PEOPLE understands that Kate’s issue is non-cancerous.
Less than two hours before King Charles’ prostate procedure announcement, Kensington Palace announced on Jan. 17 that Princess Kate had “planned abdominal surgery” the day prior. The palace said that the Princess of Wales was expected to remain in the hospital for 10 to 14 days before heading home to continue recovering and that she was “unlikely to return to public duties until after Easter.”
The statement said that the royal desired to "maintain as much normality for her children as possible," and Prince William, 41, was seen leaving the London Clinic on Jan. 18. The Prince of Wales, 41, has cleared his calendar to put family first during this time and is not expected to resume public duties until after his wife returns home and is further in her recovery.
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Those close to the Prince and Princess of Wales say family life is the couple’s priority, with public engagements and trips scheduled around their children Prince George, 10, Princess Charlotte, 8, and Prince Louis, 5, and their school vacations. The current situation is no different.
“We know they are a very tight family unit, and he wants to be there for them,” Robert Hardman, author of The Making of a King: King Charles III and the Modern Monarchy, tells PEOPLE in this week's cover story.
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