Duke of Edinburgh's 90th birthday marked with service

Video caption, Prince Philip turned 90-years-old on Friday

The Duke of Edinburgh has been praised for his achievements at a service of thanksgiving to mark his 90th birthday.

More than 750 guests joined the Queen and other royals at St George's Chapel, in Windsor Castle, to honour Prince Philip, who turned 90 on Friday.

The Duke and Duchess of Cambridge and Prince Harry were among the guests.

They were joined by representatives from the worlds of sailing, polo, carriage driving and shooting.

Private lunch

The Dean of Windsor, the Rt Rev David Conner made the congregation laugh during his sermon when he told them the Duke of Edinburgh "doesn't like to the praised".

But he said praise was due for the royal who over more than six decades had been the Queen's tireless supporter and associated with or patron of more than 800 charities.

The dean described the prince as "modest" and also mentioned his service and faith.

Members of Philip's Mountbatten family, foreign royals and past and present royal household staff were also in the congregation.

Royals who attended included the Earl and Countess of Wessex, the Princess Royal and husband Vice Admiral Timothy Laurence, and the princess's children, Zara Phillips and Peter Phillips, who was accompanied by wife Autumn.

The Duke of York also attended with his daughters, Princesses Beatrice and Eugenie.

A canapes reception for guests was held at St George's Hall and Grand Reception Room, Windsor, ahead of a private family lunch, where more than 100 guests were catered for.

Image caption, The Duke of Cambridge and his wife joined family members at the service

Later the Duke of Cambridge and Prince Harry played in a charity polo tournament in aid of disadvantaged African children.

The royal brothers played in the Sentebale Polo Cup - an event in aid of Harry's Sentebale charity.

Harry, 26, was in the Sentebale team, while William, 28, turned out for Tusk Trust team - a conservation charity of which he is royal patron.

Tusk Trust won the tournament in Coworth Park, near Ascot, Berkshire, and William accepted the trophy on behalf of his team as his brother looked on.

The Duke of Edinburgh had treated his birthday on Friday as a normal working day with a reception at Buckingham Place to mark the 100th anniversary of the Royal National Institute for Deaf People, now renamed Action On Hearing Loss.

The Queen conferred the title of Lord High Admiral of the Navy on the duke on the occasion of his 90th birthday.

On Saturday, the Queen marked her official birthday - she was 85 in April - with the Trooping the Colour ceremony in central London. Prince William took part for the first time.