06/05/2012 AT 01:20 PM EDT
The Duke of Edinburgh is feeling "a lot better," his youngest son Prince Edward said Tuesday.
Edward visited Prince Philip in a London hospital where her was admitted Monday with a bladder infection
Leaving the hospital, Edward told reporters: "He is feeling a lot better, thank you very much indeed. I think a good rest is probably required."
Philip, who turns 91 on June 10, has been keeping up with the celebrations for the Queen's Jubilee
that have been going on across London.
Asked if Philip had been watching the events
unfold, Edward said, "Yes, inevitably. He has been watching it." And he added that his mother, Queen Elizabeth, "is bearing up. She's missing him, obviously."
Edward's wife, Sophie Wessex, added that Philip is "in good spirits, he's in good form." He's expected to stay in hospital under observation for a few more days.
Earlier, at a special church service
, the Archbishop of Canterbury made note of the royal's absence, saying, "Our prayers and thoughts are very much with [Prince Philip] this morning."
Gillian Main, 50, from Lincolnshire, about 150 miles north of London, was among the crowd outside the cathedral. She told PEOPLE the Queen "seemed solemn last night. But she looked happy today – I was so pleased for her."
Her friend Yvonne Roberts, 49, added, "She will have wanted Prince Philip alongside her definitely. But she will also want to keep going for today."