Prince William and the Duchess of Cambridge left hospital yesterday (May 2) with their newborn daughter. 

The royal couple introduced their baby girl to the waiting crowds as they stood on the steps of St Mary's Hospital in London.

They smiled and waved to the cameras while their daughter appeared to sleep in her mother's arms, bundled up in a white blanket and woolly hat.

The Duchess of Cambridge gave birth to their baby girl weighing 8lbs 3oz at 8.34am yesterday (May 2).

Take a look at the first photos of the new princess below.