Prince Philip has been spotted driving for the first time since his release from hospital.

The 91-year-old royal was hospitalised in June with a bladder infection but appears to have made a full recovery and looked happy and relaxed as he drove himself and his wife Queen Elizabeth back from a church service on Sunday morning (08.07.12) at Sandringham Estate in Norfolk.

The queen was clearly delighted her husband has returned to full health and smiled and waved at a small group of well-wishers outside St Mary Magdalene church as they drove past.

It is believed Philip drove around a mile on public roads to Wood Farm at Wolferton where the pair thought to have been staying for a summer weekend break

An onlooker at the church told the Daily Mail newspaper: "It was a nice surprise to see the prince driving a car. It shows that he must be getting fitter again."

The Duke of Edinburgh was taken to hospital after falling ill following the Diamond Jubilee Thames River Pageant where he spent four hours on a barge in adverse weather conditions.

Although he was forced to miss a number of engagements including the Diamond Jubilee concert and a trip to Nottingham with his wife Queen Elizabeth, he has gone on to make a full recovery.