Prince Philip has left hospital, a day before his 91st birthday, after being treated for a bladder infection.
The Duke of Edinburgh waved to well-wishers outside the King Edward VII hospital in London as he walked to a waiting car.
The Queen's husband had been taken from Windsor Castle to the hospital last Monday by ambulance, just hours before the Diamond Jubilee concert at Buckingham Palace.
The palace said in a statement: "The Duke of Edinburgh continues to make a good recovery and will continue his convalescence at home. He will spend the weekend privately."
Princess Eugenie exclusively told Sky News the monarch would have found the final two days of the Diamond Jubilee "quite testing" without Prince Philip by her side.
On Friday, his grandsons the Duke of Cambridge and Prince Harry paid a short visit to his hospital bedside.
William visited his grandfather while on leave from his RAF Search and Rescue duties.
Harry, meanwhile, was spending the week since the Diamond Jubilee celebrations on pre-deployment training at Wattisham in Suffolk.
The princes, dressed in jeans and V-neck jumpers, left the hospital after 20 minutes without commenting.
The Duke of Edinburgh had already been visited by the Queen, the Duke of York, the Earl and Countess of Wessex and their children, Louise and James.
Prince Andrew said on Wednesday his father was "mending very well".
Prince Philip is not due to attend his next scheduled engagement until Tuesday, when the Queen hosts a garden party at the Sandringham Estate to mark her 60-year reign.
It is hoped her husband will be by her side at the family's Norfolk retreat, if he is feeling strong enough following his discharge from hospital.
It is also hoped he will be able to accompany her to the East Midlands on Wednesday for a two-day visit as part of the Queen's Jubilee tour of the UK.
There has been speculation the rain-soaked Sunday Thames River Pageant might have exacerbated his condition, if he did not make enough visits to the toilet.
The palace said earlier this week he was being treated with antibiotics and was in good spirits.