Conversation so far:
Who was Queen at the time of Prince Philip, Duke of Edinburgh?
Elizabeth II
What was Prince Philip, Duke of Edinburgh's relationship like with Queen Elizabeth?
Contrary to rumours over the years, the Queen and Duke are said by insiders to have had a strong relationship throughout their marriage, despite the challenges of Elizabeth's reign.
Why did Prince Philip feel this way about the relationship with Queen Elizabeth?

Question: what children did prince philip have?
Self-contained rewrite: what children did Prince Philip, Duke of Edinburgh have?