BBC: Prince Philip has left hospital after a five-night stay receiving treatment for a bladder infection.
Smiling, he waved to well-wishers and shook hands with staff, a day before his 91st birthday on Sunday.
He was admitted to London's King Edward VII hospital on Monday, a day after attending the rain-drenched Jubilee river pageant with the Queen.
A spokesman for Buckingham Palace said: "The Duke of Edinburgh continues to make a good recovery."
He added: "He will continue his convalescence at home. He will spend the weekend privately."
Asked outside the hospital if he was feeling better, the duke said dryly: "Well, I wouldn't be coming out if I wasn't." (+ video) » | Saturday, June 09, 2012