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/ Updated / Source: TODAY
By Elizabeth Murray
The world was introduced to the newest member of the royal family Saturday when Duchess Kate and Prince William left St. Mary's Hospital in London, the same day Kate gave birth to the little princess.
MORE: Duchess Kate glows in yellow floral dress for royal princess debut
The couple didn't say anything, but smiled and waved to the crowd.
The newest heir to the royal throne was born on May 2 at 8:34 a.m. London time, weighing 8 pounds, 3 ounces.
When Prince William brought Prince George to the Lindo Wing to meet his little sister earlier in the day, the pair waved to a roaring crowd.
Nearly two years ago, Kate and Will exited the same door with their first-born, Prince George.
The new family of four will spend a few days at Kensington Palace in London before returning to their country home.