The retired royal is back at home and not being treated for any injuries

Prince Philip was 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.

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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 the BBC they helped the royal out of his vehicle. He was conscious but very shocked and shaken, royal correspondent Nicholas Witchell said.

Image zoom MEGA; Inset: Tim Rooke/Rex/Shutterstock

Image zoom Tim Rooke/REX/Shutterstock

Two women in the other vehicle, a Kia, were treated at the Queen Elizabeth Hospital in King’s Lynn for minor injuries, according to Norfolk Police. They have since been discharged.

A breathalyzer enforced by policy provided negative readings from both drivers, police said. The road remained open and both vehicles were recovered a short time later.

The Queen and Prince Philip have been staying at their Sandringham home in Norfolk (about 112 miles north of London) since Christmas.

Image zoom Queen Elizabeth and Prince Philip Joe Giddens/PA Images/Getty

Although Philip largely stays out of the public eye since his retirement, he’s been seen driving his Land Rover around the Balmoral estate in 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.

Image zoom Prince Philip Invicta Kent Media/Shutterstock

Image zoom Prince Philip REX/Shutterstock

Philip’s carriage rides through Windsor Great Park have also remained a regular activity. In November, he was spotted at the reins of a carriage during a ride through Windsor Great Park, where he was accompanied by two aides as they were pulled through the fall foliage by four black horses.