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The Duke and Duchess of Cambridge have appeared outside the Lindo Wing at St Mary's Hospital with their new son.
Kate gave birth to the boy at 4.24pm yesterday.
The couple and the child will now travel home to Kensington Palace after Prince William makes some brief remarks to the gathered media.
Kate's sister Pippa Middleton drove into Kensington Palace just after 7pm, accompanied by her boyfriend, Nico Jackson.
The Queen has said she is "thrilled" at the arrival of her great-grandson, according to a guest at a Buckingham Palace reception tonight.
ITV News understands there will be no announcement of a name for the royal baby when he leaves St Mary's Hospital today.
The Duke and Duchess of Cambridge and their baby are expected to leave hospital later this evening, Kensington Palace officials said.
Prince Charles said his new grandson is "marvellous."
"You'll see him in a minute," he told reporters.
The bulging bank of photographers outside the Lindo Wing at St Mary's Hospital burst into action as Prince Charles stepped out of his car.
Hospital staff gathered behind barriers by the wing's doors also stretched to take pictures on their mobile phones.
The crowds assembled outside the Lindo Wing of St Mary's Hospital in Paddington gave a loud cheer to welcome Prince Charles as he stepped out of his car with wife Camilla to visit his one-day-old grandson.
The couple have a baby car seat ready to take the infant home.
Prince Charles has entered the Lindo Wing of St Mary's Hospital where his first grandchild was born yesterday.
His wife, Camilla, accompanied him.
"Have you had a long wait?" Charles asked reporters.
The Duchess of Cambridge's parents said the new Prince of Cambridge is "absolutely beautiful."
The Duke and Duchess are "both doing really well. We're so thrilled," said Carole Middleton on the steps of the Lindo Wing as she left the hospital.
She said she had "absolutely not" given a suggestion for the child's name.
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The royal baby appeared to wave as he was introduced to the crowds outside the hospital for the first time.
The Duke and Duchess of Cambridge proudly showed the world their baby son, a future king, before taking him home tonight.