UPDATE: Toot Toot! Baby Cambridge Is On The Road As Proud Papa Drives Him To Kate's Family Home (PICTURES)

The Royal baby has been seen in public for the first time as the Duke and Duchess of Cambridge left hospital on Tuesday.

Just after 7pm Kate left the Lindo wing at St Mary's Hospital in London with her husband, Prince William, and carrying their as-yet unnamed son.

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Kate and William described their new son as 'very special'

The pair smiled and waved at the crowd as their baby, wrapped in white swaddling, could be seen moving his hands.

Both Kate and William spoke of the "very emotional" moment of a new baby, the Duchess adding that it was "a special time".

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The newest member of the Royal Family makes his world debut

Holding his son, William walked forward with his wife to answer a few questions from waiting journalists.

"He's got a good pair of lungs on him, that's for sure," he joked. "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."

The Duchess, who was wearing a bespoke cornflower blue crêpe de chine dress by British designer, Jenny Packham, said: "It's very emotional, it's such a special time. I think any parent will know what this feeling feels like."

William added: "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."

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'He's a big one' said Prince William as the new family left St Mary's Hospital

William said that his new son had his wife's looks but Kate quickly replied: "No, no, I'm not sure about that."

Clearly in great spirits in spite of their long ordeal, the couple continued to answer questions with the Duchess revealing that her husband was already a hands on dad.

Asked about changing nappies she said: "He's done his first nappy already".

diana kate william charles

The scene was reminiscent of Prince William's birth when he was presented to the world by his parents, the Prince and Princess of Wales, in 1982

After speaking to the press for a few minutes the three returned to the Lindo Wing before re-emerging with their son in a baby seat which William carefully fitted onto the backseat of a Range Rover beside his wife before driving his family home.

The new family had earlier enjoyed visits from the Prince of Wales and Camilla and also from Kate's parents, Carole and Michael Middleton.

As Prince Charles left the building, he was asked how his first grandchild was and replied: "Marvellous, thank you very much, absolutely wonderful - you wait and see, you'll see in a minute."

The proud grandfather and his wife had travelled from East Yorkshire, where they had carried out a string of engagements, to see the baby and his parents.

The Queen has said she is "thrilled" at the arrival of her great-grandson, according to a guest at a Buckingham Palace reception on Tuesday evening.

Louise Butt said the monarch told her the new baby was a "big boy" and that "the first born is very special".

The Queen made the remark during an event for representatives of companies who have been given the Queen's Award for Enterprise.

Mrs Butt, of Bath-based science marketing firm Select Science, said: "She (the Queen) said she is thrilled and she said he is a big boy.

"She said the first born is very special. We agreed."

After leaving the hospital earlier, a smiling Mrs Middleton, speaking about mother and baby, told the waiting media: "They are both doing really well, and we are so thrilled."

charles camilla lindo wing

The Duke and Duchess of Cornwall arrive at St Mary's Hospital

When asked by the world's media, who are camped outside the Lindo Wing of St Mary's Hospital in London, how the proud parents were doing, she replied: "Fabulously."

Asked what the first cuddle with her grandson was like, Mrs Middleton, who had been ushered forward by her husband to speak to the press, said: "Amazing, It's all coming back."

After the grandparents' visits, Kensington Palace later issued a brief statement: "Her Royal Highness the Duchess of Cambridge will be discharged this evening from St Mary's Hospital, Paddington.

"The Duke and Duchess of Cambridge and their son will travel home to Kensington Palace.

"Their Royal Highnesses would like to reiterate their thanks to the hospital for the care and treatment they have all received."

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  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge hold their newborn son outside The Lindo Wing at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge.  (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Crowds of well wishers take photographs as Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge.  (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Crowds of well wishers take photographs as Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge.  (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Crowds of well wishers take photographs as Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge.  (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital with their newborn son on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Oli Scarff/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital with their newborn son on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Oli Scarff/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital with their newborn son on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Oli Scarff/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital with their newborn son on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Oli Scarff/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Scott Heavey/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 24: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge.  (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 24: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge.  (Photo by Peter Macdiarmid/Getty Images)

  • The Duke And Duchess Of Cambridge Leave The Lindo Wing With Their Newborn Son

    LONDON, ENGLAND - JULY 23: Prince William, Duke of Cambridge and Catherine, Duchess of Cambridge, depart The Lindo Wing with their newborn son at St Mary's Hospital on July 23, 2013 in London, England. The Duchess of Cambridge yesterday gave birth to a boy at 16.24 BST and weighing 8lb 6oz, with Prince William at her side. The baby, as yet unnamed, is third in line to the throne and becomes the Prince of Cambridge. (Photo by Chris Jackson/Getty Images)

  • Royal baby born

    The safe hands of the Duchess of Cambridge with her son who was born yesterday, leave the Lindo Wing of St Mary's Hospital in west London.

  • Royal Baby

    Prince William and Kate Middleton, The Duke and Duchess of Cambridge at the Lindo Wing of St Mary's Hospital with their new born baby boy, Paddington, London.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son. PRESS ASSOCIATION Photo. Picture date: Tuesday July 23, 2013. See PA story ROYAL Baby. Photo credit should read: Jonathan Brady/PA Wire

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Britain's Prince William and Kate, Duchess of Cambridge hold the Prince of Cambridge, Tuesday July 23, 2013, as they pose for photographers outside St. Mary's Hospital exclusive Lindo Wing in London where the Duchess gave birth on Monday July 22. The Royal couple are expected to head to London’s Kensington Palace from the hospital with their newly born son, the third in line to the British throne. (AP Photo/Lefteris Pitarakis)

  • Kate, Duchess of Cambridge holds the Prince of Cambridge, Tuesday July 23, 2013, as they pose for photographers outside St. Mary's Hospital exclusive Lindo Wing in London where the Duchess gave birth on Monday July 22. The Royal couple are expected to head to London’s Kensington Palace from the hospital with their newly born son, the third in line to the British throne. (AP Photo/Alastair Grant)

  • Britain's Prince William and Kate, Duchess of Cambridge hold the Prince of Cambridge, Tuesday July 23, 2013, as they pose for photographers outside St. Mary's Hospital exclusive Lindo Wing in London where the Duchess gave birth on Monday July 22. The Royal couple are expected to head to London’s Kensington Palace from the hospital with their newly born son, the third in line to the British throne. (AP Photo/Lefteris Pitarakis)

  • Britain's Prince William and Kate, Duchess of Cambridge hold the Prince of Cambridge, Tuesday July 23, 2013, as they pose for photographers outside St. Mary's Hospital exclusive Lindo Wing in London where the Duchess gave birth on Monday July 22. The Royal couple are expected to head to London’s Kensington Palace from the hospital with their newly born son, the third in line to the British throne. (AP Photo/Lefteris Pitarakis)

  • Royal Baby

    The Duchess of Cambridge, Prince William and their newborn son pictured outside the Lindo Wing at St Mary's Hospital, London.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal Baby

    The Duchess of Cambridge, Prince William and their newborn son pictured outside the Lindo Wing at St Mary's Hospital, London.

  • Royal Baby

    The Duchess of Cambridge, Prince William and their newborn son pictured outside the Lindo Wing at St Mary's Hospital, London.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Royal baby born

    The Duke and Duchess of Cambridge leave the Lindo Wing of St Mary's Hospital in London, with their newborn son.

  • Britain's Prince William and Kate, Duchess of Cambridge hold the Prince of Cambridge, Tuesday July 23, 2013, as they pose for photographers outside St. Mary's Hospital exclusive Lindo Wing in London where the Duchess gave birth on Monday July 22. The Royal couple are expected to head to London’s Kensington Palace from the hospital with their newly born son, the third in line to the British throne.

  • Royal baby born

    The Prince of Wales and Duchess of Cornwall leave the Lindo Wing of St Mary's Hospital in London, after he met his new grandson.

  • Royal baby born

    The Prince of Wales and Duchess of Cornwall leave the Lindo Wing of St Mary's Hospital in London, after he met his new grandson.

  • Royal baby born

    The Prince of Wales and Duchess of Cornwall leave the Lindo Wing of St Mary's Hospital in London, after he met his new grandson.

  • Royal baby born

    The Prince of Wales and Duchess of Cornwall arrive at the Lindo Wing of St Mary's Hospital in London, to meet his new grandson.