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.
More top news
Scientists have discovered the world's deepest fish with wing-like fins and an eel-like tail during research in the depths of the Pacific.
The tranquil district of Hart has been crowned as the place with the best quality of life in the UK for the fourth year in a row.
Britain's immigration system is in 'critical condition' according to the chair of the Home Affairs Select Committee.