Baby princess spends night at home
The Duke and Duchess of Cambridge have given the world a glimpse of their baby princess - who slept through her first photocall.
William and Kate appeared overjoyed as they left hospital with their daughter who was born just under 10 hours earlier at 8.34am, weighing 8lbs 3oz.
Despite screams from royal fans and the clicks of dozens of camera shutters the infant - who has yet to be given a name - did not stir and slept serenely on, wrapped in a shawl and wearing a bonnet.
Proud father William spoke of his joy following the birth earlier in the day, telling the waiting press he was "very happy".
He had been at his wife's side in the delivery room at the private Lindo Wing of St Mary's Hospital in Paddington.
The Duke's father the Prince of Wales - who said he wanted his second grandchild to be a girl - and Duchess of Cornwall were left "absolutely delighted'' by the news, Clarence House has said.
William's uncle Earl Spencer also reacted with joy to the announcement, saying: ''It's wonderful news - we are all thrilled for all four of them.''
The Queen, who attended a military event at Richmond Castle, in north Yorkshire, was dressed appropriately in pink on the day her fifth great-grandchild, who was overdue, was born.
Prince George, now 21 months old, was picked up by his father from the family's Kensington Palace apartment and taken to the private maternity unit to meet his baby sister.
It was the first time he had been seen at a public event in the UK since he left hospital after his birth in July 2013, but after waving to crowds when he first arrived he left privately by a rear entrance.
During the baby princess' photocall some strands of dark hair could be seen around the edge of her bonnet which was tied under her chin.
She was wearing a soft wool shawl made by the small, family-run Nottingham company GH Hurt & Son, who had also made George's first blanket.
The Cambridges' daughter, who is fourth in line to the throne and will be affectionately known as a spare to the heir, looked very similar to her great-grandmother the Queen when she was a newborn.
The birth was proclaimed on Twitter, by the age-old tradition of a bulletin displayed in Buckingham Palace's forecourt and by a town crier who entertained the crowds who had gathered outside St Mary's Hospital.
Palace footmen George Oates, 26, from North Yorkshire, and Simon Garnett, 30, from Cumbria were given the job of placing the proclamation on an ornate gold easel which was sited close to the palace railings.
Very quickly a long queue formed as people waited patiently to get a glimpse of the brief bulletin signed by the senior medical team, led by consultant obstetrician Guy Thorpe-Beeston, surgeon-gynaecologist to the household, who delivered the royal baby.
There were also words of congratulations from all the political party leaders who broke briefly from campaigning for the General Election.
Gun salutes will be fired in Hyde Park and at the Tower of London on Bank Holiday Monday afternoon to mark the birth.
The Cambridges will spend the next few days at their Kensington Palace apartment where they are likely to be visited by proud grandparents Michael and Carole Middleton and possibly members of the Royal Family.
They could announce the name of their daughter tomorrow before they travel to their country retreat Anmer Hall in Norfolk.
Among the bookies, the names Alice and Charlotte are vying for top spot - with thousands wagered by punters.
US president Barack Obama and his First Lady Michelle added their congratulations to the Cambridges tonight.
In a statement they said: " Michelle and I are delighted to congratulate the Duke and Duchess of Cambridge, Her Majesty the Queen and the Royal Family, and all the people of the United Kingdom on the birth of the Royal Princess.
"On behalf of the American people, we wish the Duke and Duchess and their son George much joy and happiness on the occasion of the arrival of the newest member of their family."