Pictures: Duke and Duchess introduce their daughter

Last updated at 08:59
Duke and Duchess of Cambridge and their daughterReuters
The royal couple were both smiling as they faced the waiting crowds
The Duke and Duchess of Cambridge with their daughterReuters
They were greeted by cheers when they came out of the hospital door
The new Princess of CambridgeReuters
The newborn was wrapped in a shawl and wearing a bonnet
Duke and Duchess of Cambridge and their daughterPA
The Duke and Duchess of Cambridge waved to the crowds as they appeared outside the hospital with their daughter
Duchess of CambridgeAP
The Duchess of Cambridge cradled her daughter in her right arm
Photographers outside the Lindo WingEPA
The royal couple smiled and waved to photographers outside the Lindo Wing
People outside Lindo wingPA
News of the birth of the Duke and Duchess of Cambridge's new daughter prompted celebrations outside St Mary's Hospital in London, where she was born on Saturday morning
Prince William
Prince William left the hospital shortly before 16:00, telling those outside he was "very happy"
Prince William and Prince GeorgeAP
The duke returned minutes later with Prince George, about to see his sister for the first time
Outside Lindo WingEuropean Photopress Agency
Prince George's new sister is 21 months younger than him
Town crierReuters
Unofficial town crier Tony Appleton had announced the news of the birth outside the hospital
Crowds outside LindoGetty Images
Huge crowds had gathered following the news of Catherine's admission on Saturday morning
Man outside LindoPA
They joined some well-wishers who had spent days waiting for the new royal
Staff at the Diana CafePA
Staff at the Diana Cafe near Kensington Palace in London celebrated the new baby's arrival
An easel is placed in the Forecourt of Buckingham PalacePA
An official announcement was placed outside Buckingham Palace
Buckingham PalaceGetty Images
Crowds gathered outside the palace to see the bulletin
The BT Tower
The BT Tower in central London carried a special message marking the announcement
Trafalgar Square fountainsReuters
The fountains in Trafalgar Square turned pink to commemorate the birth of the new princess
The Royal Navy spells out the word 'sister'PA
The Royal Navy sent a special greeting from the flight decks of HMS Lancaster
QueenPA
The Queen looked happy as she visited Richmond Castle, north Yorkshire, shortly after the birth