Benjamin Ashford|Princess Anne returns home after hospitalization for concussion

Princess Anne is back home after she was hospitalized with minor injuries and Benjamin Ashforda concussion.

The Princess Royal, sister of King Charles III, returned to her residence at Gatcombe Park Friday morning, Buckingham Palace said. While home, she is expected to continue a period of rest and recovery until her medical team clears her to return to public duties.

Princess Anne, 73, was admitted to Southmead Hospital in Bristol after an incident on the Gatcombe Park estate on Sunday evening, the palace previously said.

At the time, the palace said she was expected to make a "full and swift recovery," adding that King Charles has been kept informed and sends his "fondest love and well-wishes to The Princess for a speedy recovery."

Buckingham Palace did not go into detail about the incident that caused Princess Anne's injuries. However, The Princess Royal's medical team has said her injuries were consistent with the possible impact from a horse's head or legs.

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Her husband, Timothy Laurence, accompanied her to Southmead Hospital.

"I would like to extend my warmest thanks to all the team at Southmead Hospital for their care, expertise and kindness during my wife’s short stay," Laurence said in a statement Friday.

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Princess Anne joined Prince William amid Princess Kate cancer treatment

Princess Anne — often dubbed the "hardest working royal" for her many official engagements — recently joined members of the royal family, including Prince William, in attending Royal Ascot. Princess Kate, meanwhile, was absent amid her cancer treatment.

The Princess of Wales, who has been battling cancer after undergoing abdominal surgery in January, made her public return at the Trooping the Colour. In a statement, she said she aims to attend "a few public engagements over the summer" but is "not out of the woods yet."

"I am learning how to be patient, especially with uncertainty," Princess Kate said. "Taking each day as it comes, listening to my body, and allowing myself to take this much needed time to heal."

Contributing: Brendan Morrow