Just one day after giving birth to the royal baby, Kate Middleton and Prince William have left St. Mary's Hospital to head back to Kensington Palace, the Daily Mail reports.

Before they left the hospital, they delighted the world with the very first glimpse of the royal baby. Together Middleton and Prince William walked out of the hospital with the baby swaddled in his mother's arms. The couple smiled broadly as the crowd cheered.

The Duchess looked radiant in a lilac polka-dot dress while her husband opted for a blue open collar button down and black pants. The new parents couldn't look happier as they greeted the media and the public.

"He's a big boy, quite heavy. We're still working on a name," Prince William told reporters. "Well he has a good pair of lungs on him, that's for sure."

The Duke was in a good mood as he told the media that he thinks the baby takes after Middleton and also has more hair than him. His wife said the whole experience has "been emotional."

The first guests to arrive at the hospital to see the baby was Middleton's parents, Carole and Michael. Prince Charles and his wife Camilla showed up a couple hours later saying that the baby was "marvelous."