Prince Philip: My father was my teacher, supporter and critic

The Princess Royal has said her father the Duke of Edinburgh was her “teacher, supporter and critic”.

Princess Anne – the duke’s only daughter – said he would leave a “legacy which can inspire us all”.

He and his brother the Earl of Wessex earlier paid tribute to their father.

She said “his ability to treat every person as an individual in their own right with their own skills” was reflected in the organisations he worked with.

“I regard it as an honour and a privilege to have been asked to follow in his footsteps and it has been a pleasure to have kept him in touch with their activities,” she added.

It was led by the Archbishop of Canterbury, Justin Welby, who is expected to officiate at the duke’s funeral on Saturday.

He said that “for the Royal Family, as for every other, no words can reach into the depth of sorrow that goes into bereavement”.

A ceremonial royal funeral will be held for the duke at St George’s Chapel, in the grounds of Windsor Castle, at 15:00 BST on 17 April. The event will be televised.

Members of the Royal Family will walk behind the coffin ahead of the funeral, while the Queen will travel separately to the chapel.

The Duke of Sussex will fly from the US for the service, though it is not clear when. His wife, Meghan, who is pregnant, will remain at home in California on the advice of doctors.

Meanwhile, Prince Andrew has said that his father’s death was a “terrible loss”, and his family was “rallying round” to support the Queen.

“We’ve lost the grandfather of the nation,” he added, as he left a service at Windsor’s Royal Lodge.

He was joined by the Earl and Countess of Wessex and their daughter Lady Louise Windsor.

He added: “The Queen, as you would expect, is an incredibly stoic person.

“She described it as having left a huge void in her life but we, the family, the ones that are close, are rallying round to make sure that we’re there to support her.”

Speaking of his love for his father, Prince Andrew said: “He was so calm. If you had a problem, he would think about it.

“He was always somebody you could go to and he would always listen so it’s a great loss.

The Earl of Wessex, the Queen’s youngest son, said: “However much one tries to prepare oneself for something like this, it’s still a dreadful shock.”

The Countess of Wessex said the Queen was “thinking of others before herself”.

Speaking to members of the congregation outside the chapel, Sophie said that Prince Philip’s death was “very peaceful”.

“It was right for him. It was so gentle. It was just like somebody took him by the hand and off he went,” she said.

“Very, very peaceful and that’s all you want for somebody isn’t it?”

She added: “I think it’s so much easier for the person that goes than the people that are left behind.”

He said the duke had given the “most remarkable, devoted service” to the Queen, the Royal Family, the country, and the Commonwealth.