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.
Royal commentator Dickie Arbiter told ITV News the Duke of Edinburgh will be "frustrated" at having to remain in hospital for two weeks, as it will mean missing a number of royal engagements:
The Duke of Edinburgh opened London Zoo's new Sumatran tiger enclosure as one of the big cats appeared inches from his legs.
Philip was surprised to see Jae Jae, a five-year-old male tiger, walk towards him - albeit behind safety glass - before he unveiled a plaque to commemorate his visit.
The royal was invited to open the £3.6 million attraction that will house the animal and his mate Melati, a four-year-old female.
Senior staff nurse Denise Webster, who was among the officials at Aberdeen Royal Infirmary who waved the Duke of Edinburgh off today, said the 91-year-old was on good form as he left the hospital after six days:
The Duke was a very good patient, and as he left the hospital he told staff to behave themselves and he said he was going back to enjoy the rest of his holiday.
Prince Philip's release from hospital came after five nights away from Balmoral following the recurrence of a bladder infection that he first encountered during the Diamond Jubilee.
The Duke was taken ill during his traditional annual summer break with the Queen at the royal family's Scottish estate.
During his time at the NHS hospital, he was not visited by Her Majesty or other family members after being advised by doctors to rest, but remained in regular contact with relatives by telephone.
The Duke of Edinburgh looked in good health as he left Aberdeen Royal Infirmary after six days in hospital receiving treatment for a bladder infection.
Prince Philip smiled as he shook the hands of staff members at the hospital and waved as he was driven away in a chauffeured Range Rover.