The Duke of Edinburgh will celebrate his 92nd birthday, as he did Christmas in 2011, in hospital.
The Queen and Prince Philip have attended the annual Braemar Gathering, otherwise known as the Highland Games.
The Duke of Edinburgh was in good enough spirits when he left Aberdeen Hospital after a five-day stay that he shared a joke with the staff.
A 62 gun salute has been fired on Tower Hill in London to mark the occasion of the Duke of Edinburgh's 93rd birthday.
An ITV News cameraman has tweeted this picture:
62 Gun Salute being fired at Tower Hill for the birthday of Prince Phillip. It's very loud! http://t.co/NulAIXU7OU
Royal officials have downplayed concerns about the Duke of Edinburgh's health after he had a 'minor procedure' performed on his right hand.
Sporting a bandage for protection, Prince Philip continued with his arrangements today - attending a garden party and opening a new health centre in central London.
The Duke of Edinburgh will continue his engagements as planned, after having a "minor procedure" carried out on his right hand, Buckingham Palace have said.
He arrived at a garden party at the palace with the hand bandaged after having the procedure done yesterday morning at Buckingham Palace.
A spokeswoman said: "The Duke is wearing a bandage as protection. The Duke's engagements will continue as planned."
The Duke of Edinburgh has had a "minor procedure" carried out on his right hand, Buckingham Palace said today.
The Duke of Edinburgh was given a real taste of Army life with some colourful barrack-room language as he visited the 1st Battalion Grenadier Guards at Aldershot.
Normally, soldiers are on their best behaviour for a royal visit, but one player in a football match could not contain himself from complaining in no uncertain terms how tired he was after being substituted in a game between corporals and guardsmen.
Doubled up in pain and exhaustion on the touchline, the soldier appeared unaware Prince Philip was standing only five yards away as he went through a lexicon of swear words to describe his agony.
"Are you all right? asked the Duke, who was talking to a group of sergeants on the touchline. "No, I'm f*****," said the soldier, still bent double with his head down.
Philip, 92, no stranger to the odd swear word after a career in the Royal Navy, laughed and then continued to chuckle away to himself as the substituted player finally looked up and walked off looking slightly sheepish.
The Queen officially opened the new headquarters of the armed forces charity SSAFA in London.
After meeting various charity beneficiaries, volunteers and staff, she was given a posy by six-year-old Harley Inns, whose brother, Rifleman Martin Kinggett, was killed in Afghanistan in 2010.
The Queen was greeted by her cousin, Prince Michael of Kent, who is the charity's president.
The Duke of Edinburgh has jokingly advised a double amputee soldier to put some wheels on his prosthetic legs.
Prince Philip made the quip as he and the Queen officially opened the new headquarters of the armed forces charity SSAFA in London.
Trooper Cayle Royce, who lost both legs in a bomb blast in Afghanistan last year, said the Duke "told me I should lose the feet and put some wheels on my prosthetics. He said it will be easier to get around."
The 27-year-old South African added that Philip was "my hero...He's just a great person - really comedy."
The Duke of Edinburgh said it was a "great pleasure to be back in circulation" after conducting his first official engagement in nearly two months.
Prince Philip, who has been an Honorary Fellow of the Royal Society of Edinburgh since 1951, handed out medals at the Society to Professor Sir John Cadogan, Professor Michael Ferguson and Sir Ian Wood.
The 92-year-old underwent exploratory abdominal surgery in June.
The Duke made a spontaneous address to the audience in the Royal Society of Edinburgh's Wolfson Lecture Theatre.
He said he wanted to: "add my congratulations to the medal winners".
Adding: "It's now quite a long list since I've been doing this.
"But it's a great pleasure to be back in circulation again."
Referring to the medal-winners, the Duke joked: "I wish to God I could understand what they'd been doing!"
His comments were greeted with laughter and applause from the audience.
The Duke of Edinburgh said it was a "great pleasure to be back in circulation" on his first official engagement since having surgery in June.
It is the first time he has been seen in public following an operation and period of convalescence.
Philip, 92, handed out medals at the Royal Society of Edinburgh to Professor Sir John Cadogan, Professor Michael Ferguson and Sir Ian Wood