Earlier this week Prince Philip raised concerns after he was treated for an infection in hospital – but it seems the royal was back in action as he drove the Queen to a Guards Polo Club event in Windsor on Sunday.

The Duke of Edinburgh, 96, got behind the wheel to take Her Majesty to meet their son Prince Edward and watch granddaughter Lady Louise Windsor, 13, show off her carriage driving skills.

Philip appeared to be feeling well as he waved to crowds and presented prizes after stepping from his Land Rover, accompanied by the Queen. The monarch looked delighted to have her husband back at her side.

Fighting fit: Despite having been taken to hospital for an infection earlier this week Prince Philip appeared to be back to his usual sprightly self as he drove the Queen to the Royal Windsor Cup Final at Guards Polo Club  in Windsor, Berkshire

Fighting fit: Despite having been taken to hospital for an infection earlier this week Prince Philip appeared to be back to his usual sprightly self as he drove the Queen to the Royal Windsor Cup Final at Guards Polo Club  in Windsor, Berkshire

Fighting fit: Despite having been taken to hospital for an infection earlier this week Prince Philip appeared to be back to his usual sprightly self as he drove the Queen to the Royal Windsor Cup Final at Guards Polo Club in Windsor, Berkshire

All smiles: The Duke could be seen wearing a pair of spectacles which he took off before stepping out of the vehicle

All smiles: The Duke could be seen wearing a pair of spectacles which he took off before stepping out of the vehicle

All smiles: The Duke could be seen wearing a pair of spectacles which he took off before stepping out of the vehicle

Parking up: The royal couple chatted as they arrived to watch granddaughter Lady Louise, 13, show off her carriage skills

Parking up: The royal couple chatted as they arrived to watch granddaughter Lady Louise, 13, show off her carriage skills

Parking up: The royal couple chatted as they arrived to watch granddaughter Lady Louise, 13, show off her carriage skills

Having a royally good time: The Duke of Edinburgh looked delighted to be out and about as he and his wife sat in wicker chairs

Having a royally good time: The Duke of Edinburgh looked delighted to be out and about as he and his wife sat in wicker chairs

Having a royally good time: The Duke of Edinburgh looked delighted to be out and about as he and his wife sat in wicker chairs

Looking good: The Queen, 91, and her husband, 96, looked well rested despite Her Majesty having a busy social calendar this week

Looking good: The Queen, 91, and her husband, 96, looked well rested despite Her Majesty having a busy social calendar this week

She spent several days at Royal Ascot this week while Philip recovered from his infection

She spent several days at Royal Ascot this week while Philip recovered from his infection

Looking good: The Queen, 91, and her husband, 96, looked well rested despite Her Majesty having a busy social calendar this week. She spent several days at Royal Ascot while Philip recovered from an infection caused by a ‘pre-existing’ condition

On top form: The Duke of Edinburgh presented prizes to winners of the British Driving Society at the annual show

On top form: The Duke of Edinburgh presented prizes to winners of the British Driving Society at the annual show

On top form: The Duke of Edinburgh presented prizes to winners of the British Driving Society at the annual show

Her Majesty looked elegant in a mint green ensemble pairing a paisley dress with a complementary overcoat and a signature hat. 

The Duke of Edinburgh looked in a chatty mood as he presented prizes to winners of the British Driving Society at the annual show. 

At one point in the day Philip, who recently announced plans to retire from official duties in the autumn, was seen enjoying a break in the front seat of his green Range Rover as the festivities continued around him.

It marks his first appearance since he was admitted to the King Edward VII Hospital in London on Tuesday evening after spending the day at Royal Ascot with the Queen.

Phillip appeared to be feeling well as he waved to crowds after stepping from his Land Rover accompanied by the Queen

Phillip appeared to be feeling well as he waved to crowds after stepping from his Land Rover accompanied by the Queen

The 96-year-old kept up a smart appearance in a blazor and burgundy tie

The 96-year-old kept up a smart appearance in a blazor and burgundy tie

Well-rested: Philip appeared to be feeling well as he waved to crowds after stepping from his Land Rover

Having fun: Philip looked back to his bright-eyed, cheerful self after the hospital scare earlier this week

Having fun: Philip looked back to his bright-eyed, cheerful self after the hospital scare earlier this week

Having fun: Philip looked back to his bright-eyed, cheerful self after the hospital scare earlier this week

Back together again: The Queen was visibly delighted to have her husband back at her side

Back together again: The Queen was visibly delighted to have her husband back at her side

Her Majesty laughed as she enjoyed the event in Berkshire today

Her Majesty laughed as she enjoyed the event in Berkshire today

Back together again: The Queen was visibly delighted to have her husband back at her side

Suffering: It is believed the Duke had a recurrence of the bladder infection that twice saw him admitted to hospital in 2012

Suffering: It is believed the Duke had a recurrence of the bladder infection that twice saw him admitted to hospital in 2012

Suffering: It is believed the Duke had a recurrence of the bladder infection that twice saw him admitted to hospital in 2012

Her Majesty looked her elegant best in a mint green ensemble

Her Majesty looked her elegant best in a mint green ensemble

Her outfit featured pink accents both in the paisley design on her dress and the ribbon in her hat

Her outfit featured pink accents both in the paisley design on her dress and the ribbon in her hat

Her Majesty looked her elegant best in a mint green ensemble which featured pink accents in her paisley dress and hat ribbon

Quite the socialite! The Queen looked as energetic as ever as she beamed at the crowds after a busy week at Royal Ascot

Quite the socialite! The Queen looked as energetic as ever as she beamed at the crowds after a busy week at Royal Ascot

Quite the socialite! The Queen looked as energetic as ever as she beamed at the crowds after a busy week at Royal Ascot

Time out: Prince Philip, 96, took in some of the action from the comfort of his car at the Guards Polo Club in Windsor today

Time out: Prince Philip, 96, took in some of the action from the comfort of his car at the Guards Polo Club in Windsor today

Time out: Prince Philip, 96, took in some of the action from the comfort of his car at the Guards Polo Club in Windsor today

Recovering: The outing marks the first time Philip has been seen in public since he was admitted to hospital earlier this week

Recovering: The outing marks the first time Philip has been seen in public since he was admitted to hospital earlier this week

Recovering: The outing marks the first time Philip has been seen in public since he was admitted to hospital earlier this week

The Duke of Edinburgh could be seen shaking hands with officials on the Smith's Lawn while the Queen looked on 

The Duke of Edinburgh could be seen shaking hands with officials on the Smith's Lawn while the Queen looked on 

The Duke of Edinburgh could be seen shaking hands with officials on the Smith’s Lawn while the Queen looked on 

Getting stuck in: The pair enjoyed some time off their feet after walking around and meeting officials

Getting stuck in: The pair enjoyed some time off their feet after walking around and meeting officials

Getting stuck in: The pair enjoyed some time off their feet after walking around and meeting officials

Waving it off: Prince Philip looked happy to be rejoining his wife in their busy summer calendar

Waving it off: Prince Philip looked happy to be rejoining his wife in their busy summer calendar

Waving it off: Prince Philip looked happy to be rejoining his wife in their busy summer calendar

Wearing a navy blue jacket and pink open collar shirt, Philip chatted with carriage drivers during the event (right)

Wearing a navy blue jacket and pink open collar shirt, Philip chatted with carriage drivers during the event (right)

Wearing a navy blue jacket and pink open collar shirt, Philip chatted with carriage drivers during the event (right)

On point: Her Majesty and the Duke of Edinburgh looked content as they watched the show together from a private area

On point: Her Majesty and the Duke of Edinburgh looked content as they watched the show together from a private area

On point: Her Majesty and the Duke of Edinburgh looked content as they watched the show together from a private area

He spent two nights at the private hospital as a precautionary measure for treatment for an undisclosed infection triggered by a ‘pre-existing’ condition.

Philip appeared to be in better health today as he ventured out for the Royal Bentley Motors Cup Final and British Driving Society Annual Show. 

Wearing a navy blue jacket and pink open collar shirt, Philip seemed to be taking in the action of the day from the comfort of his car. But he was spotted chatting with carriage drivers and watching the show with the Queen from a private seating area.

Support: Philip watched granddaughter Lady Louise Windsor, pictured, show off her skills in the British Driving Society Show

Support: Philip watched granddaughter Lady Louise Windsor, pictured, show off her skills in the British Driving Society Show

Support: Philip watched granddaughter Lady Louise Windsor, pictured, show off her skills in the British Driving Society Show

Family: Prince Edward, 53, looked the proud father as he and son James, Viscount Severn, nine, watched Lady Louise

Family: Prince Edward, 53, looked the proud father as he and son James, Viscount Severn, nine, watched Lady Louise

Family: Prince Edward, 53, looked the proud father as he and son James, Viscount Severn, nine, watched Lady Louise

Poised: Lady Louise looked at ease in the carriage, thought to have first been driven by her monarch grandmother in 1943

Poised: Lady Louise looked at ease in the carriage, thought to have first been driven by her monarch grandmother in 1943

Poised: Lady Louise looked at ease in the carriage, thought to have first been driven by her monarch grandmother in 1943

Confident: The 13-year-old joined other carriage drivers for a procession through the grounds

Confident: The 13-year-old joined other carriage drivers for a procession through the grounds

Confident: The 13-year-old joined other carriage drivers for a procession through the grounds

Family tradition: Lady Louise is following in the footsteps of the Duke of Edinburgh, who was instrumental in helping to establish carriage driving as a sport in Britain

Family tradition: Lady Louise is following in the footsteps of the Duke of Edinburgh, who was instrumental in helping to establish carriage driving as a sport in Britain

Family tradition: Lady Louise is following in the footsteps of the Duke of Edinburgh, who was instrumental in helping to establish carriage driving as a sport in Britain

Composed: Lady Louise was watched by her father Prince Edward and brother James at the event today

Composed: Lady Louise was watched by her father Prince Edward and brother James at the event today

Composed: Lady Louise was watched by her father Prince Edward and brother James at the event today

Skilled: Lady Louise looked comfortable and confident as she took the reins on Sunday afternoon's event 

Skilled: Lady Louise looked comfortable and confident as she took the reins on Sunday afternoon's event 

Skilled: Lady Louise looked comfortable and confident as she took the reins on Sunday afternoon’s event 

Talented: The teenager flashed a smile to her father and brother after completing her circuit this afternoon

Talented: The teenager flashed a smile to her father and brother after completing her circuit this afternoon

Talented: The teenager flashed a smile to her father and brother after completing her circuit this afternoon

In the driving seat: Following her display Lady Louise posed for a photo from  her carriage

In the driving seat: Following her display Lady Louise posed for a photo from  her carriage

In the driving seat: Following her display Lady Louise posed for a photo from her carriage

Edward looked every bit proud father as he watched his daughter's performance at Sunday's events in Windsor

Edward looked every bit proud father as he watched his daughter's performance at Sunday's events in Windsor

Edward looked every bit proud father as he watched his daughter’s performance at Sunday’s events in Windsor

Meanwhile his youngest son, Prince Edward, 53, looked every inch the proud father as he and son James, Viscount Severn, nine, watched Lady Louise take part in a carriage driving procession. 

Lady Louise, 13, looked perfectly at ease in the red and black carriage, which is believed to have been first driven by her grandmother the Queen in 1943. 

The teenager, who is a keen carriage driver, is following in the footsteps the Duke of Edinburgh, who was instrumental in helping to establish carriage driving as a sport in Britain. 

Meanwhile other attendees took part in an unusual take on polo, shunning horses in favour of Penny-farthings in order to play the sport 

Meanwhile other attendees took part in an unusual take on polo, shunning horses in favour of Penny-farthings in order to play the sport 

Meanwhile other attendees took part in an unusual take on polo, shunning horses in favour of Penny-farthings in order to play the sport 

It seems that negotiating the vintage cycles proved difficult on the grassy turf with some taking a tumble

It seems that negotiating the vintage cycles proved difficult on the grassy turf with some taking a tumble

It seems that negotiating the vintage cycles proved difficult on the grassy turf with some taking a tumble

Elsewhere the day held a rather quirky event in the form of a special polo match with participants shunning horses in favour of Penny-farthings.

The game appeared to take on the same premise as the traditional sport but players having to try and negotiate their old fashioned bicycles through the grass. 

The hospital stay forced Prince Philip to miss the State Opening of Parliament and some of Royal Ascot.

He also missed out on appearances at London Zoo, where he had been due to present the Prince Philip Award for Contributions to Zoology in his role as an honorary fellow of the Zoological Society of London.

It is believed that he is suffering from a recurrence of the bladder infection that twice saw him admitted to hospital in 2012. 

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