Current advice is the physical books of condolence should NOT be made available, as a precaution against the spread of the coronavirus. There are, however, online opportunities for expressing your condolence, including:
Remembering His Royal Highness Prince Philip | The Church of England
Book of Condolence for HRH Prince Philip, The Duke of Edinburgh - Wiltshire Council
Announcement of the death of The Duke of Edinburgh | The Royal Family