Queen getting to know Charlotte
The Queen has met her great-granddaughter Princess Charlotte for the first time.
The Duke and Duchess of Cambridge's baby, who is just three days old, was introduced to her great grandmother at Kensington Palace.
The Queen was in north Yorkshire attending a military event when Charlotte was born on Saturday and introduced to the world by William and Kate who held their daughter on the steps of St Mary's Hospital in Paddington.
But the monarch appeared to acknowledge the newest member of her family by wearing an appropriately coloured pink outfit during the event.
Informally dressed for the occasion, the Queen arrived in a chauffeur driven car and spent around 30 minutes with her grandson, his wife and her fifth great-grandchild who is fourth in line to the throne.
The princess' name was announced by her parents yesterday and, in tribute to the Queen, one of their daughter's middle names is Elizabeth, while the other is Diana in recognition of William's mother.
It is likely the Queen also had time to catch up with Charlotte's older brother Prince George now 21 months old.
Her visit to see her great grandchild came soon after William and Kate had formally registered the birth of their daughter.
Kensington Palace said in a brief statement: "The Duke and Duchess of Cambridge have formally registered the birth of Princess Charlotte.
"The Duke of Cambridge signed the birth register at Kensington Palace this afternoon witnessed by a registrar from Westminster Register Office."
The document gives the date and place of Charlotte's birth and her full name as Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.
On the birth register the Cambridges gave their occupations as Prince and Princess of the United Kingdom - just as they did when registering the birth of their son Prince George in 2013.
The meeting was also an historic occasion as it was the first time a serving sovereign had met a great-granddaughter born in direct succession on the male line since Queen Victoria met George VI's sister Princess Mary, who was born 118 years ago in 1897.
A print from September 1898 in the National Portrait Gallery's archive shows Mary, in a frilly bonnet and smock coat, and her two older brothers pictured with their great-grandmother Victoria.
William and Kate are expected to leave Kensington Palace in the coming days and retreat to their Norfolk home Anmer Hall to spend time with their children.
The Duke is now on two week's paternity leave from his job as an air ambulance helicopter pilot and is expected to start the final phase of his training at the beginning of June.