Princess Anne has left the hospital and returned to her southwestern England estate after an accident thought to involve a horse left her with a concussion.

The king’s 73-year-old sister had been to Southmead Hospital as a precautionary measure and is expected to make a full recovery after she was injured Sunday while walking at her Gatcombe Park estate. Her husband, Vice Admiral Sir Tim Laurence, applauded the doctors and nurses for their care in a statement Friday.