Entertainment Princess Anne Pays Tribute to Her Father Prince Philip: He Was 'My Teacher, My Supporter and My Critic'
Prince William Still 'Very Upset' with Prince Harry but Hopes 'Relationship Will Heal in Time': Report
During Prince Harry and Meghan Markle's joint interview with Oprah Winfrey, the Duke of Sussex described his relationship with Prince William as "space"Despite the tension between the two brothers, some of which stemmed from Meghan Markle and Harry's response to Queen Elizabeth amid their exit from their royal roles, William hopes that their "relationship will heal in time," according to a report from The Sunday Times.
is honoring her late father, , two days after his death.
On Sunday, in ashared on the Royal Family's Instagram account, the only daughter of Prince Philip and Queen Elizabeth, 70, reflected on her father's legacy in a lengthy caption shared with a black-and-white photograph of the two.
"You know it's going to happen but you are never really ready," Anne began her statement. "My father has been my teacher, my supporter and my critic, but mostly it is his example of a life well lived and service freely given that I most wanted to emulate."
Prince Philip, husband of Queen Elizabeth II, dies at 99
LONDON — Prince Philip, the irascible and tough-minded husband of Queen Elizabeth II who spent more than seven decades supporting his wife in a role that both defined and constricted his life, has died, Buckingham Palace said Friday. He was 99. His life spanned nearly a century of European history, starting with his birth as a member of the Greek royal family and ending as Britain’s longest serving consort during a turbulent reign in which the thousand-year-old monarchy was forced to reinvent itself for the 21st century.
Noting that his "ability to treat every person as an individual in their own right with their own skills" came about "through all the organisations with which he was involved," Anne continued, writing, "I regard it as an honour and a privilege to have been asked to follow in his footsteps and it has been a pleasure to have kept him in touch with their activities."
Anne added: "I know how much he meant to them, in the UK, across the Commonwealth and in the wider world."
Continuing her statement, Anne also thanked supporters for their love amid a heartbreaking time for the family. "I would like to emphasise how much the family appreciate the messages and memories of so many people whose lives he also touched," she wrote. "We will miss him but he leaves a legacy which can inspire us all."
Mandy Moore's life and career in pictures: Photo flashback
Mark the 'This Is Us' star's birthday with a lookback at her life in pictures.
Never miss a story — sign up forto stay up-to-date on the best of what PEOPLE has to offer, from juicy celebrity news to compelling human interest stories.
Gallery: 25 Things You Didn’t Know About Prince Philip (Reader's Digest)
News of Prince Philip's death at age 99 was announced on Friday.
"It is with deep sorrow that Her Majesty The Queen has announced the death of her beloved husband, His Royal Highness The Prince Philip, Duke of Edinburgh," the palace said in a statement at the time. "His Royal Highness passed away peacefully this morning at Windsor Castle."
The statement continued, "The Royal Family join with people around the world in mourning his loss."
The monarch, 94, will refrain from carrying out any royal duties for the next few days as she enters a. Affairs of state will also be put on pause.
Comics - 'Big Nate'
Comics - 'Big Nate'
RELATED VIDEO: Prince Philip Dead — the Love of Queen Elizabeth's Life Was 99
"Without him, life will be completely different," Anne said in a prerecorded interview withto be broadcast when Philip died. also appeared in the pre-taped clip. (It aired on the day news of the Duke of Edinburgh's death was made public.)
"But from society's perspective, he was able to keep pace with the kind of technological changes that have such an impact…but above all that it's not about the technology, it's about the people," she continued.
Can't get enough of PEOPLE's Royals coverage?to get the latest updates on Kate Middleton, Meghan Markle and more!
Anne also spoke about her father's "nomadic" childhood, settling in Paris as a child after being smuggled out of the Greek island of Corfu in a crate. Being much younger than his sisters, largely separated from his father and his mother's mental health troubles, Anne said it "must have been really quite difficult."
"He was virtually a refugee at this stage because he had nowhere else to go literally," she said, adding that eventually attending the Gordonstoun School in Moray, Scotland, made an "impact" on him.
As much as he valued his time at the boarding school, Anne added that her father valued life experience in addition to academic learning. "He believed there were things outside [of school] which were necessary to help you develop as an individual, which played to your strengths and if that weren't academic there were other things that would be your strength," she said.
A Barista Is Rating Celebrities Based on How Rude They Are .
A former barista is rating celebrities she served at a Malibu coffee shop from the nicest to the rudest. See how your fave ranks.