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.