A spokesman for Buckingham Palace said: "The Duke of Edinburgh continues to make a good recovery and he will continue his convalescence at home.
"He will spend the weekend privately."
Having been released from hospital on Saturday afternoon the Duke of Edinburgh will be spending his 91st with his family.
The Duke of Edinburgh left King Edward VII Hospital in London today in time for his 91st birthday.
The Duke of Edinburgh is still in hospital. He may not be released until after his 91st birthday this Sunday.