Britain’s Prince Philip, Queen Elizabeth II's 90-year-old husband, has left the hospital Tuesday morning after being treated for a blocked coronary artery.

Philip was taken to the specialist heart hospital Papworth in Cambridge on Friday after having chest pains. He spent four nights in the hospital recuperating from coronary stent surgery.

Prince Philip missed out on the Royal Family's traditional Christmas festivities, including a morning church service, a viewing of the Queen's annual Christmas broadcast, and Boxing Day’s shooting party.

This Christmas was also the first for newlyweds Prince Harry and Kate Middleton to spend with the Royal Family.

Prince William and his brother Prince Harry drove to Papworth to visit their grandfather in the hospital on Christmas day.

Philip did not speak to reporters as he was driven away Tuesday morning but offered smiles and waves to photographers outside of the hospital. According to Buckingham Palace officials, Philip will return to Sandringham, his wife’s private estate in Norfolk, to rejoin his family.

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Philip, known to be active despite his age, most recently took a 10-day tour of Australia with Queen Elizabeth II.