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(CNN) —  

Britain’s Prince Philip was reunited with the Queen and royal family in time for the Christmas holidays after being discharged from hospital on Tuesday.

The Duke of Edinburgh, 98, left King Edward VII Hospital in London around 8:50 a.m. (3:50 a.m. ET) on Tuesday morning, where he was seen walking to a green Range Rover and sitting in the passenger seat. He returned immediately to the Queen’s country estate, Sandringham, where the royal family traditionally spend Christmas.

“The Duke of Edinburgh has today left hospital after being discharged by his doctor and is now back at Sandringham,” Buckingham Palace said in a statement. “His Royal Highness would like to thank everyone who sent their good wishes.

The Queen’s husband was hospitalized Friday for “observation and treatment in relation to a pre-existing condition.”The admission was a “precautionary measure” on the advice of the duke’s doctor, Buckingham Palace said in a brief statement on Friday.

The Duke of Edinburgh leaves King Edward VII Hospital in London.
Philip Toscano/PA Images via Getty Images
The Duke of Edinburgh leaves King Edward VII Hospital in London.

While the hospital stay prompted concern, a royal source told CNN that Philip had not been taken to the hospital in an ambulance and had walked into the building.

Philip retired from public life in 2017 and is rarely seen in public. He is believed to spend most of at Sandringham.

The monarch traditionally celebrates the festive season with members of the royal family at the country estate in rural Norfolk, about 100 miles north of London.

In November, the Queen and her husband marked their 72nd wedding anniversary. Although he no longer carries out engagements, Philip remains patron, president or a member of more than 780 organizations.