Queen Elizabeth’s 97-year-old husband Prince Philip was recovering at the couple’s home in eastern England on Friday after escaping without injury when his car flipped over following a crash with another vehicle, Reuters reports.

Philip was at the wheel of his Land Rover when it collided with another car on a road close to the royals’ Sandringham private residence in Norfolk on Thursday afternoon, Buckingham Palace said.

Philip was unhurt, although shaken. The other driver, a 28-year-old woman, suffered cuts to her knee and a 45-year-old woman passenger in the car, which also had a nine-month-old baby on board, sustained a broken wrist. They were taken to hospital but later released.

“It was an astonishing escape for everyone,” said Roy Warne, 75, who pulled the prince from the wreckage.

“People could have been killed. The impact must have been enormous,” Warne, who was driving home with his wife when he saw the collision, told TV reporters. “He’s a very brave man. He didn’t make a big fuss about it and he went to ask everyone else if they were injured.”

Witnesses told media the accident had occurred when Philip was pulling out of a driveway onto a main road, with pictures from the scene showing Philip’s Land Rover overturned on the side of the road.

Police said both drivers involved in the accident had been breath tested but neither were over the alcohol limit.

“As is standard procedure with injury collisions, the incident will be investigated and any appropriate action taken,” Norfolk police said in a statement.