Prince William has said he will “support The Queen in the years ahead” in a tribute to his late grandfather, the Duke of Edinburgh.

Describing Prince Philip as “an extraordinary man”, William said he will “miss my Grandpa”.

In a statement, he said: “My grandfather’s century of life was defined by service – to his country and Commonwealth, to his wife and Queen, and to our family.

“I feel lucky to have not just had his example to guide me, but his enduring presence well into my own adult life – both through good times and the hardest days.

“I will always be grateful that my wife had so many years to get to know my grandfather and for the kindness he showed her.

“I will never take for granted the special memories my children will always have of their great-grandpa coming to collect them in his carriage and seeing for themselves his infectious sense of adventure as well as his mischievous sense of humour!

“My grandfather was an extraordinary man and part of an extraordinary generation. Catherine and I will continue to do what he would have wanted and will support The Queen in the years ahead. I will miss my Grandpa, but I know he would want us to get on with the job.”

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Watch live coverage of Prince Philip’s ceremonial funeral service on Sky News, the website and app from 2pm on Saturday

It comes a day after members of the Royal Family gathered at a Windsor church service, with Prince Andrew saying that his father was a “remarkable man” and that relatives were “rallying round” the Queen.

He revealed that the Queen had described the Duke of Edinburgh’s death “as having left a huge void in her life“.

Prince Edward’s wife, the Countess of Wessex, also shared details of the duke’s final moments, calling his death “very peaceful”.

On Saturday, Prince Charles also spoke about his “dear Papa” and said the 99-year-old “would have been amazed” by the tributes to him.

MPs and politicians across the UK are returning early from the Easter break today to pay tribute to Prince Philip.

Members are back at the Commons a day early, the Welsh and Scottish parliaments have been recalled, while the Northern Ireland Assembly will also pay its respects.

Prince Philip’s funeral on Saturday is limited to 30 people under coronavirus rules and will be televised. It will be preceded by a national minute’s silence.

The duke was married to Queen Elizabeth II for more than 70 years and became the longest-serving consort in British history – he was due to turn 100 in two months’ time, on 10 June.