The Duke of Edinburgh's children have paid tribute to him as the rock in the Queen and their family's lives.
His youngest son the Earl of Wessex said Philip had a "challenging role", but carried it out with the most "extraordinary flare" and had never tried to overshadow the Queen.
Speaking on a BBC tribute on Friday evening, all four of the duke's children paid tribute to him as someone who had encouraged and supported them.
Prince Edward said: "It was always a challenging role to take but he has done it with the most extraordinary flare and an extraordinary tact and diplomacy.
"He has never ever tried to overshadow the Queen in any shape or form and I think he has always been there as that rock in the Queen's life, and certainly within his family that was exactly the same."
Philip died peacefully in his sleep on Friday morning at Windsor Castle, a few months before his 100th birthday.
The Princess Royal said she would best remember her father as "always being there", someone to help with a problem or bounce ideas off.
"I will best remember him as always being there and a person you could bounce off ideas, but if you were having problems you could always go to him and know that he would listen and try to help," she said.
Anne also said Philip had given a "huge amount of encouragement", while Edward added: "My father was always a great source of support and encouragement and guidance all the way through and never trying to curtail any of the activities or anything that we wanted to try and do but would always encourage that.
"And I will always, always remember and thank him for that."
The Prince of Wales said that while his father did not "suffer fools gladly", he was good at showing him how to do things.
"Well you know he didn't suffer fools gladly, so if you said anything that was in any way ambiguous he'd say 'make up your mind'," Charles said.
"So perhaps it made one choose your words carefully.
"He was very good at showing you how to do things and would instruct you in various things."
The Duke of York said that Philip used to read to the family in the evenings.
"Like any family of the day your parents went out to work during the day, but in the evening just the same as any other family we would get together, we would sit on the sofa as a group and he would read to us," Andrew said.