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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.

Prince William, Duchess Kate and their newborn baby princess!Matt Dunham / AP

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Britain's Prince William and Kate, Duchess of Cambridge and their newborn baby princess, pose for the media as they leave St. Mary's Hospital's exclusive Lindo Wing, London, Saturday, May 2, 2015. Kate, the Duchess of Cambridge, gave birth to a baby girl on Saturday morning. (AP Photo/Alastair Grant)Alastair Grant / AP

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.

Will and George wave to the crowd!Chris Jackson / Getty Images

Nearly two years ago, Kate and Will exited the same door with their first-born, Prince George.

William and Kate depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England.Scott Heavey / Getty Images file

The new family of four will spend a few days at Kensington Palace in London before returning to their country home.