LONDON (AP) — 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.

He was known for his occasionally deeply offensive remarks — and for gamely fulfilling more than 20,000 royal engagements to boost British interests at home and abroad. He headed hundreds of charities, founded programs that helped British schoolchildren participate in challenging outdoor adventures, and played a prominent part in raising his four children, including his eldest son, Prince Charles, the heir to the throne.

Philip spent a month in the hospital earlier this year before being released on March 16.

“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. “His Royal Highness passed away peacefully this morning at Windsor Castle.”