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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.

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, reports the BBC. His 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.

Two people in the other vehicle were treated for minor injuries, according to Norfolk Police.

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

Although Philip largely stays out of the public eye since his retirement, his carriage rides through Windsor Great Park have 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.

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.