Prince Philipwas involved in a car accident with another vehicle on Thursday afternoon.
Queen Elizabeth‘s husband was not injured in the incident, which took place near the royal family’s Sandringham Estate, a spokesperson for Buckingham Palace says.
The retired royal is back at home and has seen a doctor. He is not being treated for any injuries.
“He’s fine,” a source tells PEOPLE.
Prince Philip, 97, was driving at the time of the accident. The royal was pulling out of a driveway onto the road when the accident occurred, according to Norfolk Police. His Land Rover Range Rover was overturned in the crash.
Eyewitnesses told theBBCthey helped the royal out of his vehicle. He was conscious but very shocked and shaken, royal correspondent Nicholas Witchell said.
MEGA; Inset: Tim Rooke/Rex/Shutterstock

Tim Rooke/REX/Shutterstock

Two women in the other vehicle, a Kia, were treated at theQueen ElizabethHospital in King’s Lynn for minor injuries, according to Norfolk Police. They have since been discharged.
The Queen andPrince Philiphave been staying at their Sandringham home in Norfolk (about 112 miles north of London) since Christmas.
Joe Giddens/PA Images/Getty

Although Philip largely stays out of the public eye since his retirement, he’s been seendriving his Land Roveraround theBalmoral estatein Scotland during the summer. In August, his drive took him up to the hills above Loch Muick, where he was spotted stopping to open a gate and chatting to a cyclist on a country lane.
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Prince Philip on Nov. 12.REX/Shutterstock

He took a different ride out for a spin earlier in the month, opting for a carriage with two rows of benches for his aides.
source: people.com