The Duke and Duchess of Cambridge have appeared outside the hospital with their daughter, who was born earlier on Saturday, the reports.

The princess slept in her mother’s arms during her first public appearance on the steps of St Mary’s Hospital. They then left for Kensington Palace.

The couple emerged from the London hospital to crowds of well-wishers and the world’s media. They stood on the steps for a while before heading back into the hospital to put the princess in a car seat. Prince William then drove them to Kensington Palace.