The Duke of Edinburgh has "exchanged well-wishes" with the other people involved in his car crash near Sandringham Estate, Buckingham Palace says.
A palace spokeswoman confirmed he had been in contact with the occupants of the Kia involved in the collision - two women who were injured, and a baby.
Prince Philip - whose Land Rover overturned in the accident - visited hospital on Friday morning on doctor's advice but has "no injuries of concern", she added.
"This confirmed His Royal Highness had no injuries of concern. The Duke has returned to Sandringham.
"Contact has been made privately with the passengers in the other car and well-wishes exchanged."
The 97-year-old duke was lifted out of his Land Rover after a "horrendous" crash just before 3pm on Thursday.
Norfolk Police - which is investigating the crash - said the driver of the Kia, a 28-year-old woman, suffered cuts to her knee while her passenger, a 45-year-old woman, sustained a broken wrist.
A nine-month-old baby boy was also in the car but was uninjured, police said.
Mr Warne, 75,
told how Philip was "shaken up" and was "asking if anyone was hurt" after the crash on the junction of the B1349 and the A149.
Roy Warne said he had some of the royal's blood on his hands after helping free Philip from the wreckage.
"He didn't seem to be in pain, I think he was pretty clearly concerned and very shocked in the circumstances," Mr Warne said.
"It was a horrendous accident, it's just amazing that nobody was seriously injured."
He continued: "He's a very old man and he was obviously very shaken up."
Both injured women were treated at the Queen Elizabeth Hospital in King's Lynn and were discharged on Thursday night.
A replacement Land Rover was pictured being delivered to Sandringham on Friday.
