The Duke and Duchess of Cambridge have left hospital with their new baby daughter, who slept throughout
The new princess was born at 08:34 BST (07:34 GMT), on 2 May, 2015, two-and-a-half hours after the Duchess of Cambridge was admitted to hospital
Prince William told reporters he was "very happy" at the arrival of his second child
The duke brought Prince George to the hospital so that the young prince could meet his sister
The name of the baby, fourth in line to the throne, is yet to be announced
Image source, PAPrince George made a brief public appearance in the afternoon, as he was taken to the hospital by his father to meet his new sister.
The princess remains unnamed but will bring you any news on that in our main story of the day's events.
What a day. It all started with news that the Duchess had been admitted to hospital and within hours it was announced that she had given birth to a baby girl at 08:34 BST following a short labour.
The royal couple and their daughter have now left London's St Mary's Hospital for Kensington Palace - but not before the world got its first brief glimpse of the new royal baby.
Nicholas Witchell, Royal correspondent:
Royal correspondent
"That's the way to do it, all wrapped up in less than 12 hours."
@JessRashers tweets:, external Kate looks like she just walked through a meadow.. Not like she's just given birth #RoyalBabyWatch #RoyalBaby #KateMiddleton
Rebecca English, Royal Correspondent, Daily Mail
@RE_DailyMail tweets:, external Looks like she has inherited Kate's dark hair to me.
The royal couple will stay for a few days at Kensington Palace before leaving for their country home, Anmer Hall, on the Sandringham estate in Norfolk.
Kensington Palace
tweets, external: #WelcomeToTheFamily
@JackieJordan1 tweets:, external So sweet. And of course, I'm sure that dress has just sold out #RoyalBaby
@tweetkattweet tweets:, external love squishy little new babies. the new princess looked very cute #RoyalBaby
Image source, PAThe baby princess made her first public appearance wrapped in a white shawl and wearing a bonnet. Her mother was wearing a white Jenny Packham dress with a yellow floral pattern.
Nicholas Witchell
Royal correspondent
I think there is a compelling attraction to Elizabeth [as a possible name for the baby].
You might think William might want one of the names to be Elizabeth in tribute to his grandmother.
@TayHoksbergen tweets: , externalThe Princess looks like she has a full head of hair! Can't wait to see more of her and find our her name! #RoyalBaby
@idkcharl tweets:, external How does Kate Middleton look so beautiful after giving birth THIS MORNING #RoyalBaby
For a video of the moment the royal couple emerged from hospital, click here.
Image source, APHere they are again, standing on the steps of the Lindo Wing with their new baby daughter, just over 12 hours after the duchess was admitted in the early stages of labour. They wee greeted by huge cheers from the watching crowd.
@MissMNevin tweets:, external Awwwww beautiful baby and stunning mummy! #RoyalBaby #princessofcambridge
The royal trio have now reappeared from the Lindo Wing, with Prince William carrying his sleeping baby in a car seat. He loads her into the back of a people carrier and they begin their journey home.
@I_Am_Benj tweets:, external Yay! It's the Duke and Duchess of Cambridge with the #RoyalBaby :D Kate is looking great!
The picture the world has been waiting for. The first picture of the baby princess.
The royal couple and their new daughter have gone back into the hospital after a minute outside. They did not say anything to the crowds or the waiting media.