Aides pointed out that the Duke of Edinburgh had taken a step back from public duties last year, although at the time they said he would attend the occasional engagement on a case-by-case basis.
Yesterday's event saw the Queen, accompanied by Andrew, received in the grand reception room at Windsor Castle to mark the appointment of the Duke of York as Colonel of the Grenadier Guards.
The monarch and her son were then given a Royal Salute in St George's Hall before he inspected a parade of troops.
Buckingham Palace announced last December that Andrew would take over the appointment from his father, who has been Colonel of the Grenadier Guards since 1975, as part of his renouncement of official duties.
In 2011, Philip was rushed into hospital for emergency heart surgery after suffering a blocked artery, which involved him have a stent fitted.
He was also forced to pull out of several key engagements to celebrate the Queen's Diamond Jubilee in 2012, having developed a severe bladder infection after being forced to stand for hours in driving wind and rain during a celebratory river pageant.
And in 2013 he was admitted to hospital for 'exploratory' abdominal surgery.