Prince William said his grandfather led an extraordinary life and had a mischievous sense of humour as he paid tribute to Prince Philip.
In statement, William who will be joined by his brother Harry for the funeral of the Duke of Edinburgh, said: "My grandfather's century of life was defined by service - to his country and Commonwealth, to his wife and Queen, and to our family.
"I feel lucky to have not just had his example to guide me, but his enduring presence well into my own adult life - both through good times and the hardest days.
"I will always be grateful that my wife had so many years to get to know my grandfather and for the kindness he showed her.
"I will never take for granted the special memories my children will always have of their great-grandpa coming to collect them in his carriage and seeing for themselves his infectious sense of adventure as well as his mischievous sense of humour!
"My grandfather was an extraordinary man and part of an extraordinary generation. Catherine and I will continue to do what he would have wanted and will support The Queen in the years ahead.
"I will miss my Grandpa, but I know he would want us to get on with the job."
The Prince shared a special photo from 2015 of his son Prince George sitting next to the Duke of Edinburgh in Norfolk.
The family photo was taken by George's mum Kate Middleton and George is pictured beside the duke on the box seat of a carriage, as Philip in his blue jacket holds the reins and a whip.
The future king, dressed in shorts and a knitted jumper, is holding open a book.
Prince William's comment comes following a special service for the Royal Family at a Windsor church, where Prince Andrew said that his father was a "remarkable man" and that relatives were "rallying round" the Queen.
He also said The Queen had described the Duke of Edinburgh's death "as having left a "huge void in her life".
Prince Charles also spoke about his "dear Papa" and said the 99-year-old "would have been amazed" by the tributes he received.
The Duke passed away at Windsor Castle on Friday.
