The Duke and Duchess of Cambridge have emerged from hospital with their newborn daughter to roaring applause from waiting crowds.
Kate held the baby which was wrapped in a white blanket and a cream woollen hood.
The as-yet unnamed princess was born at 8.34am and Prince William had been present for the birth at St Mary’s in London.
Both mother and their second child, who weighed 8lb 3oz, are “doing well”, Kensington Palace said.
The trio will now head back to the palace as the princess spends her first night at home.
Prince George has visited his baby sister for the first time but has now been taken back to the palace separately.
Before William picked up George from the palace, he told reporters he was “very happy”.
The pair arrived outside the hospital soon after. The 21-month-old prince was lifted out of a car by Prince William and walked a few steps before he wanted to be carried by his father.
Both royals then waved at the world’s media and crowds of well-wishers and William kissed his son on the head before they made their way inside the hospital’s Lindo Wing.
It was the first time George has been officially seen in public in the UK since he left the same hospital himself as a newborn nearly two years ago.
An official announcement about the birth came just after 11.15am and is understood to have been so the couple could tell their families.
The Queen, Duke of Edinburgh, Prince of Wales, Duchess of Cornwall and the baby’s uncle Prince Harry had been informed and the Prince of Wales and the Duchess of Cornwall are “absolutely delighted”, Clarence House said.
Her Majesty wore pink for a girl and beamed with happiness at Richmond Castle, North Yorkshire when well-wishers applauded and congratulated her on the birth of her fifth great-grandchild.
The Duke of Cambridge’s uncle Earl Spencer said: “It’s wonderful news – we are all thrilled for all four of them.”
Meanwhile, at Buckingham Palace a framed notice of birth was put on display on a ceremonial easel on the forecourt to officially announce the birth.
Guy Thorpe-Beeston, the surgeon-gynaecologist to the Royal Household, led the team of doctors and nurses that looked after Kate.
Alan Farthing was also present. He is surgeon-gynaecologist to the Queen.
Kate, who suffered hyperemesis gravidarum, or extreme morning sickness, early in her pregnancy, was a number of days overdue and had been taken to the hospital at 6am from her nearby home Kensington Palace.
The birth of a girl will have been a surprise to the royal couple, who had chosen not to find out the sex of their baby in advance.
The Prince of Wales, however, will be overjoyed as he made no secret he wanted his second grandchild to be a girl.
Prime Minister David Cameron led the congratulations to the Duke and Duchess of Cambridge on the birth of their new daughter, writing on Twitter that he is “absolutely delighted for them”.
Labour leader Ed Miliband also tweeted his congratulations, adding: “Wishing them lots of joy and happiness – and hopefully some sleep!”
Deputy Prime Minister Nick Clegg said he and his wife Miriam wished William and Kate “all the best as their family grows”, while UKIP leader Nigel Farage urged his party’s candidates to “take at least an hour out of campaigning in order to toast the new arrival”.
Mr Farage added: “I shall certainly be setting an example in that regard. After all, some things are worth interrupting politics for.”
The princess is fourth in line to the throne, the Queen’s fifth great-grandchild and a spare to the heir – and Prince George’s sister.
Her name is yet to be announced but the favourites include Alice, the name of one of Queen Victoria’s daughters and also of the Duke of Edinburgh’s mother, and Charlotte – the feminine form of Charles – which may be chosen as a nod to William’s father, the Prince of Wales.
The Duke and Duchess of Cambridge may also choose Elizabeth in tribute to the baby’s great-grandmother the Queen or perhaps Victoria in honour of the baby’s great-great-great-great-great-grandmother Queen Victoria.
