The Duke and Duchess of Cambridge have emerged from St Mary's Hospital in west London with their new baby son.
Walking out to cheers from staff and well-wishers, Kate cradled her son and said it was "a special time". Prince William said they were "still working on a name".
The couple then went back inside the private Lindo Wing and placed their son in a car seat. A few minutes later they came outside again and the duke drove his family home to Kensington Palace.
A small crowd had gathered outside the palace to greet them.
Speaking to reporters outside the hospital earlier, the couple both said the experience was "very emotional".
William and Kate appeared relaxed and smiled as they appeared on the steps of the hospital shortly before 19:15 BST in front of a mass of photographers.
Kate handed their baby, who was wrapped in a white shawl, over to her husband and the couple walked forward to speak to reporters.
Nappy change "He's got a good pair of lungs on him, that's for sure," William said.
"He's a big boy, he's quite heavy. We are still working on a name so we will have that as soon as we can."
He added: "It's the first time we have seen him really so we are having a proper chance to catch up."
A smiling duchess said: "It's such a special time. I think any parent will know what this feeling feels like."
Addressing the waiting crowd, Prince William said: "I'll remind him of his tardiness when he's a bit older.
"I know how long you've all been standing here so hopefully the hospital and you guys can all go back to normal now and we can go and look after him."
They also revealed William had done the first nappy change.