The Queen leaving hospital
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Queen 'to rest for a few days'

4 March 2013 Last updated at 22:58 GMT

The Queen has left hospital in central London after being assessed for gastroenteritis symptoms.

Dressed in a red coat and smiling, she shook hands with hospital staff on the steps outside before being taken back to Buckingham Palace where she'll spend the night.

A Palace spokeswoman confirmed the Queen's diary for this week would remain suspended.

The BBC's Royal correspondent Nicholas Witchell reports.