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The new princess with happy parents William and Kate- Duke and Duchess of Cambridge

The new princess- cradled asleep in the arm of her mother the Duchess of Cambridge. Image: Screengrab BBC Live News.

The new princess- cradled asleep in the arm of her mother- the Duchess of Cambridge. Image: Screengrab BBC Live News.

The Duke and Duchess of Cambridge have left St Mary’s Hospital Paddington with their new baby daughter born just after 8.30 earlier this morning.

The Duchess was driven to the Lindo Wing at around 6 a.m. from their home at Kensington Palace.

The Duchess cradled her daughter in her right arm and the baby, wrapped in shawl and wearing a bonnet, appeared fast asleep.

The baby girl is fourth in line to the throne.

Duke and Duchess of Cambridge, William and Kate with their baby daughter. Image: Screen grab from live Sky News feed.

Duke and Duchess of Cambridge, William and Catherine with their baby daughter. Image: Screen grab from live Sky News feed.

The Duchess smiled broadly as did the Duke who had his arm around his wife and they both waved to the media and the crowds.

Kate looked relaxed and in good health despite giving birth only around 10 hours earlier.

Proud Royal parents waving to waiting crowds and media with their newly born daughter- just over 10 hours old. Image: screen grab BBC Live news feed.

Proud Royal parents waving to waiting crowds and media with their newly born daughter- just over 10 hours old. Image: screen grab BBC Live news feed.

After spending a few minutes posing for pictures they walked back inside the Lindo Wing and soon returned with their daughter in a baby seat.

William carried her and the couple held hands as they walked down the Lindo Wing steps.

After the Duke placed his baby on the back seat of a Range Rover and Kate, also in a rear seat, reached over to strap her in, he drove his family away to loud cheers.

William had earlier brought older brother Prince George to the Lindo Wing to meet his new baby sister.

Prince William taking his son,  21 month old Prince George, to see his newly born sister. Image: Screen grab from live Sky News Feed.

Prince William taking his son, 21 month old Prince George, to see his newly born sister. Image: Screen grab from live Sky News Feed.

The toddler prince waved to the crowds when he first arrived with his father but he left for home before his parents, through a back entrance.

William spoke of his joy following the birth telling the waiting media he was ‘very happy’. when he first left to pick up George from Kensington Palace.

Embed from Getty Images

Embed from Getty Images

Embed from Getty Images

Embed from Getty Images

Embed from Getty Images

Embed from Getty Images

Embed from Getty Images

 Embed from Getty Images

Embed from Getty Images

Embed from Getty Images

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