LONDON (Deutchse Presse-Agentur) — Britain’s Prince Philip, the husband of Queen Elizabeth II, was released from the hospital Saturday, one day before his 91st birthday.

The prince had spent five nights in the hospital after being admitted with a bladder infection on Monday, and missed part of the queen’s Diamond Jubilee celebration as a result.

As he left London’s private King Edward VII hospital, Philip appeared in good spirits, waving at the cameras after shaking hands with hospital staff. He nodded to reporters who asked if he was feeling better, before being escorted home by the police.

Six months ago, Philip suffered heart problems and had a coronary stent fitted. He has been married to the queen for almost 65 years.

It was unclear when the prince would resume official duties.

Saturday marks the queen’s official birthday, but the traditional Trooping the Colour parade has postponed by a week this year, to June 16.