By Rebecca English and Jennifer Smith and Stephanie Linning and Gemma Mullin for MailOnline
The Duke and Duchess of Cambridge have taken their new baby daughter home just 12 hours after arriving at hospital and ten hours after giving birth.
The couple emerged on the steps outside the Lindo Wing at St Mary's Hospital shortly after 6pm and the world was given a brief glimpse of the new princess, who was wrapped in a white blanket.
The newest royal, whose name is yet to be announced, was born at 8.34am today weighing 8lbs and 3oz - less than three hours after the Duchess was admitted to hospital.
Prince George was taken to the Lindo Wing to meet his newborn sister, offering a timid wave to the gathered crowds from the hospital steps, at around 4pm this afternoon.
The 21-month-old was driven from the family home at Kensington Palace to St Mary's Hospital by his father, Prince William, and stayed for about an hour before he was taken back home for his bath and tea with his nanny.
Both mother and her newborn daughter were said to have been 'doing well' when the news came shortly after 11am today. The baby, whose name is not yet known, will be known as Her Royal Highness Princess of Cambridge.
After being lifted out of the car and put on the ground to walk, George stretched out his arms to be lifted back up by his father before offering a timid wave to the gathered media and fans.
Cheers erupted for the young prince, who has not made a public appearance in the UK since his own birth in 2013, as he made his way towards the Lindo Wing in his father's arms.
After walking a few steps holding his father's hand, the one-year-old stretched out his arms to be picked back up by his father before being encouraged to wave to the gathered crowds.
Beaming with pride, William was seen mouthing 'good boy' in his son's ear before giving him a tender kiss on the head. The pair then disappeared behind the hospital doors to reunite with Kate and the new princess in a scene reminiscent of Prince Harry's birth in 1984.
Prince Charles held a toddling William's hand as they walked up the Lindo Wing steps where Diana gave birth.
The announcement came by way of a statement released by Kensington Palace shortly after 11am. It was then posted on the palace's official Twitter page two minutes later.
'Her Royal Highness The Duchess of Cambridge was safely delivered of a daughter at 8.34am,' it said.
'The baby weighs 8lbs 3oz. 'The Duke of Cambridge was present for the birth.
'The Queen, The Duke of Edinburgh, The Prince of Wales, The Duchess of Cornwall, Prince Harry and members of both families have been informed and are delighted with the news.
'Her Royal Highness and her child are both doing well.'
At around 12.30 a framed certificate signed by Kate's medical team was placed on an easel outside Buckingham Palace with the same words.
Prince Charles and the Duchess of Cornwall released a statement this afternoon saying they were 'absolutely delighted' with the arrival of their granddaughter while the Earl of Spencer, Prince William's uncle, said: 'It's wonderful news - we are all thrilled for all four of them.'
The Prime Minister was among the first to congratulate the couple this morning writing on Twitter:
'I'm absolutely delighted for them.'
He was followed by Nick Clegg who said: 'Congratulations to the Duke & Duchess of Cambridge on the birth of their new baby. Miriam & I wish them all the best as their family grows.'