Princess Anne visits her father Prince Philip in hospital

Princess Anne and Sir Tim Lawrence marrying at Crathie Parish Church in 1992

The 96-year-old royal - who is the husband of Queen Elizabeth II - went under the knife on April 4 at King Edward VII Hospital in Central London to replace the joint and, after spending 11 days on bed rest, he's now been allowed to return home.

The Duke of Edinburgh was admitted to King Edward VII's hospital in London last Wednesday for planned surgery.

"His Royal Highness The Duke of Edinburgh left King Edward VII Hospital at midday today, following a hip replacement operation last week".

When did Prince Philip leave hospital?

Buckingham Palace said after the surgery that Philip was in "good spirits" and making progress.

On Thursday he was visited by his daughter, the Princess Royal, who said he was "on good form".

He did not accompany the Queen to church at Windsor Castle on Easter Sunday because of the problem, and it is understood it was also the reason he missed an annual Maundy service.

The duke will have already begun his rehabilitation moving with the aid of a stick or crutches, and will face weeks of more aftercare as he learns to walk again on his new hip. Prince Philip has been discharged from hospital after a hip replacement. An update the following day said he had undergone a "successful" hip operation and was recovering well.

On May 19, they will celebrate the wedding of their grandson Prince Harry and Meghan Markle at St. George's Chapel in Windsor.

The duke retired from official duties previous year but has been seen in recent months driving his vehicle and attending some events with his family.

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