In addition, the documentary will also include footage from Queen Elizabeth's private cine-film collection, insights from loyal members of his staff, and a glimpse at Philip's study, library and private office.
Programme makers said: "For the first time on television, more than a dozen members of the Royal family offer their personal thoughts and reflections as they pay a historic tribute to the extraordinary life of His Royal Highness Prince Philip Duke of Edinburgh.
"All the children of the Queen and the duke, along with their adult grandchildren and other members of the Royal family have agreed to take part in this unique portrait of the longest-serving consort in royal history."
The documentary - which will air on September 22 - was originally commissioned to mark Philip's 100th birthday, with some of the interviews filmed before he passed away.
But new interviews and scenes reflecting his death have now been added to the film.
The BBC said: "There are poignant recollections, plenty of humour and numerous fresh insights into the character and legacy of this royal pioneer.
"With special access to the Queen's private cine-film collection, this film is an unrivalled portrait of a man with a unique place in royal history - by those who knew him best."