Prince William and Kate Middleton have left hospital with their baby boy.
The royal couple left London's St Mary's Hospital with their son via the famous Lindo Wing entrance, where Prince William was first photographed with his parents 31 years ago.
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The couple emerged from the famous doors - with the Duchess holding the newborn - and posed for the world's media on the steps of the hospital.
An official statement confirmed that the Duchess and the newborn prince would be discharged from hospital tonight, and return with Prince William to Kensington Palace.
Prince William and Kate Middleton became parents at 4.24pm yesterday (July 22), with their son weighing 8lb 6oz.
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The new parents answered questions from press, describing the birth of their first child as a "very emotional" and "special" time.
The child - bestowed with the title Prince of Cambridge - replaces Prince Harry as third in line to the throne.
Prince William said: "He's a big boy, he's quite heavy. We are still working on a name but we will have that as soon as we can. It's the first time we've seen him really so we are having a proper chance to catch up."
He also acknowledged the amount of time that press and well-wishers had been waiting outside the hospital, joking: "I'll remind him of his tardiness when he's older because I know how long you've all been standing out here.
"Hopefully the hospital and you guys can all go back to normal now and we can go and look after him."
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Earlier today, both sets of grandparents visited the Lindo Wing to see the new family.
Carole and Michael Middleton arrived at the hospital shortly after 3pm, and upon leaving told the press that their grandson is "absolutely beautiful".
Prince Charles and the Duchess of Cornwall arrived at around 5.30pm for a brief visit, before traveling to Wales for royal duties.
The Prince of Wales teased the baby's unveiling as he left the hospital, telling the crowd: "Wait and see, you'll see in a minute."
Gallery - the first full day of the royal baby in pictures:
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Prince Charles and Camilla, Duchess of Cornwall at St Mary's Hospital.
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Prince Charles visits St Mary's Hospital to see his new grandson.
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Carole and Michael Middleton visit the hospital to see their grandson.
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Carole and Michael Middleton face dozens of photographers as they leave the Lindo Wing of St Mary's Hospital in Paddington, London.
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Members of the royal household take items including a car seat into the hospital.