Prince Philip Released From Hospital
06/09/2012 AT 08:00 AM EDT
After a five-night stay undergoing treatment for a bladder infection, the duke, who turns 91 Sunday, has left the hospital, BBC News reports.
"The Duke of Edinburgh continues to make a good recovery," a Buckingham Palace spokesman said of Philip, who waved to well-wishers as he left the hospital Saturday. "He will continue his convalescence at home. He will spend the weekend privately."
Prior to his hospitalization, which was described "as a precautionary measure," Philip stood alongside the Royal Family on Sunday in the freezing rain for four hours during the Diamond Jubilee river pageant honoring the Queen's 60-year reign.
He was then rushed from Windsor Castle to London's King Edward VII Hospital on Monday.
In between Jubilee celebrations, family members visited Philip, updating reporters that he was "in good spirts." Visitors included Queen Elizabeth herself, Prince Harry and Prince William, who recently qualified as a Royal Air Force operational captain.
The duke is set to appear at his next royal engagement Tuesday for the Queen's Sandringham Estate garden party, another Jubilee celebration.