In pictures: The royal baby
- Published
The Duchess of Cambridge appeared smiling and relaxed as she emerged from St Mary's Hospital in west London with her husband by her side.
The first royal wave from the new prince was greeted by cheers from the crowd.
Prince William said they were "still working on a name" for the royal baby.
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Cradling her son, the duchess said it was "a special time for any parent".
The couple said the experience had been "very emotional".
Prince William took charge of his son before answering a few brief questions from the press.
The couple revealed that Prince William had carried out the first nappy change.
Crowds of well-wishers held up cameras and phones in an effort to immortalise the moment.
Some had found precarious vantage points from which to watch the scene.
Prince William placed the baby in a car seat before leaving the hospital.
The three headed home to Kensington Palace with Prince William at the wheel.
It is not the first time Prince William has been photographed on the steps of the Lindo Wing of St Mary's - here he is pictured in his mother's arms in 1982.