Kate Middleton, Catherine, Duchess of Cambridge, Royal Baby, Prince William

AP Photo/Alastair Grant

Introducing Kate Middleton and Prince William's newest bundle of joy!

The Duke and Duchess of Cambridge debuted their second child at 6:12 p.m. local time on the steps of London's St. Mary's Hospital, as is royal family tradition, giving the world its first glimpse at Prince George's little sibling.

Kate and William's baby girl was born on Saturday, May 2.

Wearing a white and yellow long-sleeve shift dress and nude heels (yes, heels!), the duchess carried her sleeping newborn daughter, wrapped in a light blanket and cap, and smiled and waved with her husband at the scores of adoring fans who have gathered at the hospital over the past couple of weeks in anticipation of the child's birth. He helped her down a short flight of stairs and they stood outside for about two minutes before returning back inside.

Kate Middleton, Catherine, Duchess of Cambridge, Royal Baby, Prince William

John Stillwell/PA Wire

Both new parents looked calm and collected as photographers snapped shots of the newborn in front of the exact same spot that Princess Diana and Prince Charlesonce presented both William and Prince Harry hours after their births.

They then came out again with the little princess, sleeping in a car seat, entered a black SUV and drove off, with William at the wheel.

Kate Middleton, Catherine, Duchess of Cambridge, Royal Baby, Prince William

AP Photo/Matt Dunham

Check out a video posted by NBC News:

Hours after Kate gave birth, William, who was present for it, later drove home to Kensington Palace, located less than two miles away, to collect George. He then brought him back to St. Mary's Hospital to visit his mother and new sister.

"The baby weighs 8 lbs., 3 oz. The Duke of Cambridge was present for the birth," Kensington Palace said in a statement, adding, "Her Royal Highness and her child are both doing well."

Kate Middleton, Catherine, Duchess of Cambridge, Royal Baby

Chris Jackson/Getty Images

Back in September of last year, the Palace made the exciting announcement that Kate and Will were expecting their second child.

"Their Royal Highnesses, The Duke and Duchess of Cambridge, are very pleased to announce that the Duchess of Cambridge is expecting their second child," Clarence House said in a statement. "The Queen and members of both families are delighted with the news."

Prince Charles previously gushed about his newest grandchild during a trip to the United States with wife Camilla Parker Bowles.

NBC NewsPeter Alexander asked the future king, "Prince Charles, are you excited to be a grandfather again?"

The 66-year-old immediately replied with a big grin on his face, "Oh, yes!"

Meanwhile, Kate's pregnancy was off to a slightly rocky start, as was the case when she was carrying Prince George, and was treated for her Hyperemesis Gravidarum by doctors at Kensington Palace.

Kate and Wills' second child is now fourth in line to the British throne, and pushes Harry to fifth in line.

Shortly after the baby news made its way around the globe, Prime Minister David Cameron shared his well wishes via Twitter, writing, "Many congratulations to the Duke and Duchess of Cambridge. I'm delighted by the happy news that they're expecting another baby."

Love all things royal? Check out The Royals on E! on Sundays at 10/9c!

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