Re the comment that Prince Philip was cheeky. I think 'mischievous' as Woodnymph suggests is a better word. Cheeky usually refers to a child being impudent or disrespectful towards an adult.

Prince Philip used banter to relax a formal situation and was not beyond the language of the quarter-deck . . .

An eg was given on the radio the other day. A young man was describing the time when as a 'juvenile offender' in either prison/reform school he had been given the opportunity to undertake the Duke of Edinburgh's Award Scheme (where young people are challenged to undertake any number of outdoor adventures/help in the community etc) This chap had time out of confinement to do this and reach his goal to make a more meaningful life for himself. When he nervously met the Duke and explained his situation the Duke enquired if he had to do the various tasks "wearing a ball and chain" . . . which helped lighten the situation.

I don't know what word would be used in the US.

Duke of Edinburgh's Award Scheme