The King and Queen sent their "best wishes" for the Pope's convalescence.

The Pope waved from the hospital window before being discharged to return to the Vatican.

The pontiff has been recovering from pneumonia, after he was admitted last month.

Pope Francis is unable to deliver his traditional Angelus prayer in person, with the Vatican publishing a text.

The latest statement suggests that the 88-year-old is able to sit in his chair, eat normally and do what the Vatican calls "light work".

Around the world, prayers and services are being held in support of the pontiff.

The pontiff is in good humour and eating normally though he remains "critical", Vatican sources say.

The pontiff is receiving hospital treatment as the Vatican warns his condition is still critical.