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The Duke and Duchess of Cambridge have left Kensington Palace with four-day-old Princess Charlotte for their Norfolk home Anmer Hall.
William and Kate headed out of London with their new baby and her elder brother Prince George as they made their way to their home in East Anglia.
They will spend the first few weeks of the princess's life in their refurbished Georgian mansion on the Queen's private Sandringham estate as they get to grips with looking after both a newborn and a toddler.
The couple's Range Rover, being driven by William with Kate in the front passenger seat, was seen leaving Kensington Palace on what was Princess Charlotte's first outing since leaving hospital.
Kensington Palace confirmed the family had set off for Anmer Hall.
William is on two weeks 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.
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The Queen has left Kensington Palace after meeting her newborn great-granddaughter, Princess Charlotte, for the first time.
Dressed in a lilac ensemble, the Queen arrived this afternoon to meet the newest member of the royal family.
Charlotte's grandparents - including Prince Charles and the Duchess of Cornwall, as well as Kate's parents Michael and Carole Middleton - have already visited the baby princess.
She was born on Saturday morning, weighing 8lbs 3oz.
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 Queen has arrived at Kensington Palace to meet her great-granddaughter Princess Charlotte.
Youngsters at a West Norfolk school have been preparing to welcome Princess Charlotte to their part of the world.
Children at Dersingham Primary School, which is just three miles from the royal baby's home at Anmer on the Sandringham Estate, spent the day making cards, cakes and banners.
They described the daughter of the Duke and Duchess of Cambridge as "beautiful" and said they hoped she would enjoy living in the county.
Princess Charlotte is expected to head to her new home in Norfolk later today.
Her parents, the Duke and Duchess of Cambridge, will leave Kensington Palace for Anmer Hall on the Sandringham Estate.
The new princess will have her first pressing engagement there - a meeting with her great-grandmother, the Queen.
The Duke and Duchess of Cambridge have named their new baby daughter Charlotte Elizabeth Diana.
The world has been waiting to hear the royal couple's chosen name for the princess.
She will now be known as HRH Princess Charlotte of Cambridge.
It has been two days since her birth and the family are expected to head for Anmer Hall, their Norfolk home, any day.