Carole Middleton, Pippa Middleton

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Kate Middleton and Prince William's newborn princess, aka royal baby No. 2, received some very special visitors on Sunday morning.

The Duchess of Cambridge's parents, Carole Middleton and Michael Middleton, and sister, Pippa Middleton, as well as the prince's father Prince Charles and his wife Camilla, Duchess of Cornwall, popped in for a visit at Kensington Palace to see the new bundle of joy, officials said.

Carole and Pippa were photographed driving near the entrance.

Kate's friend Emilia Jardine-Paterson, godmother to Prince George, joined the family, Hello! magazine reported.

The baby princess was born on Saturday morning and her name has not yet been revealed. She joins big brother Prince George, who will turn 2 in July.

The baby is now the fourth in line to the British throne, pushing her uncle Prince Harry, who is currently in Australia on a temporary embed with the Australian Army before he leaves his military service, to No. 5.

"She is absolutely beautiful," he said about his newborn niece, in a statement released by Kensington Palace. "I can't wait to meet her."

Prince Charles, Prince of Wales and Camilla, Duchess of Cornwall

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Reigning monarch Queen Elizabeth II has not yet visited the princess, the first in the royal family in 25 years and her fifth great-granddaughter. However, she paid tribute to the child by wearing pink on the day she was born.

Hundreds of fans have posted congratulatory messages for Kate and William on the arrival of their little princess.

"The Duke and Duchess are hugely grateful for the messages of congratulations they have received from people all over the world," the palace's statement said. "It means a great deal to them that so many people have celebrated the arrival of their new daughter."

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

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

—Reporting by Melanie Bromley

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