Queen beams in car mirror as she drives herself from Royal Windsor Horse Show

Philip was instrumental in helping to establish the sport and took part well into his 80s but gave up competitions some years ago.

He said: “I started driving because I’d been playing polo, and I decided I’d give up polo when I was 50.

“I was looking round to see what next, I didn’t know what there was available. And I suddenly thought, well, we’ve got horses and carriages so why don’t I have a go.

“So I borrowed four horses from the stables in London, took them to Norfolk and practised and thought – why not?”