Around half an hour after the visit from the Queen, William, Kate and their baby were seen being driven away from Kensington Palace.
The Duchess was sitting in the back of the vehicle next to the baby seat while the Duke was a front-seat passenger.
Dressed in a turquoise floral outfit, the Queen looked relaxed as she left Kensington Palace after spending just over half an hour with the Duke and Duchess of Cambridge's first child.
She had travelled to see William and Kate and their baby without the Duke of Edinburgh who is still convalescing at Windsor Castle following exploratory abdominal surgery last month.
The Queen has arrived at Kensington Palace to visit the son of the Duke and Duchess of Cambridge, ahead of her stay at Balmoral. It is the first time the Queen has seen her great-grandson since his birth on Monday.
The Duchess of Cambridge looked radiant as she presented her son to the world in a pale blue polka dot dress reminiscent of the pattern worn by Princess Diana on the day she left hospital with Prince William.
Kate stepped out of the Lindo Wing wearing a bespoke piece by Jenny Packham, a couturier who has become something of a household name thanks to the Duchess.
Observers were quick to draw parallels with the outfit worn by William's late mother when she posed on the same doorstep with her first-born son in a green spotted dress.
But where Diana appeared nervous and bewildered by the attention, a glowing Kate smiled broadly and spoke assuredly as she introduced her child to the world's press and the hordes of cheering well-wishers.
The royal baby appeared to wave as he was introduced to the crowds outside the hospital for the first time.Read the full story ›
The Duke of Cambridge waved to the cheering crowds as he drove his wife, the Duchess of Cambridge, and their new-born son to Kensington Palace.