William waves to cheering crowds as he drives out of hospital

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.

Watch: 'We're very emotional' says Kate as she leaves hospital

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First look at Prince of Cambridge

The Duke and Duchess have given the world its first glimpse of the new royal baby. The royal couple looked relaxed and smiled broadly as the world's media captured the moment. Prince William said they were" still working on name."