Prince Philip thanks hospital staff
The Duke of Edinburgh thanked hospital staff who cared for him over the Christmas period as he was discharged today.
The 90-year-old royal was sitting in the front passenger seat of a dark Range Rover as he began the hour-long journey to Sandringham at 9.25am.
The Duke smiled and waved as he left Papworth Hospital in Cambridgeshire. Two other Range Rovers carrying royal protection officers followed him.
A Buckingham Palace spokesman said: "On departure, Prince Philip thanked the staff at Papworth for the excellent care he has received during his stay. He is very much looking forward to rejoining his family."
Scores of police officers began combing the hospital's grounds in the early hours of this morning in preparation for the Duke's departure.
It is not yet clear how active the Duke will be when he arrives at Sandringham in Norfolk, or whether he will attend Sunday's service at St Mary Magdalene church on the estate. He missed the Christmas Day service at the church, which was attended by the Duchess of Cambridge for the first time.
A spokesman for Buckingham Palace said no decision had been taken on how soon the Duke would resume public engagements or whether he would attend church on Sunday.
The Duke was taken to Papworth near Cambridge on Friday night after he complained of chest pains.
Following tests, doctors discovered a blocked artery and he underwent a "minimally invasive procedure of coronary stenting", which was declared a success.
It was the most serious health scare suffered by the Duke, who is known for being robust and active. He had hoped to be discharged from hospital in time for the Boxing Day shoot at Sandringham, which he normally leads, but remained under observation in hospital.