'Thankfully he has her looks!' Beaming William jokes as he and Kate leave hospital with their newborn son giving the world its first glimpse of a future king

By REBECCA ENGLISH, ROYAL CORRESPONDENT and MARTIN ROBINSON

The world has seen the royal baby for the first time as the future king left hospital with his ecstatic parents this evening, who revealed they had not yet chosen a name.

Prince William and Kate waved and smiled broadly to the waiting cameras as they held their prince on the steps of the private Lindo Wing at St Mary's Hospital in London, 26 hours after he was delivered, weighing 8lbs 6oz.

The Duke of Cambridge followed the steps his parents Charles and Diana took with him 31 years ago, when he was born there on June 21, 1982.

William said: ‘He’s got her looks thankfully’ to which the Duchess responded ‘No, no, no I’m not sure about that.’

Kate then said: 'It's been very emotional. Any parent will know what this feeling is like.'

Their child is now third in the line of succession, displacing Prince Harry to fourth and the Duke of York to fifth, although he may not become sovereign for half a century or more.

The Duke, Duchess and Baby Cambridge will travel home to Kensington Palace tonight, spending two weeks there while William is on paternity leave.

Huge crowds of well-wishers and journalists from all over the world have been waiting outside the west London hospital ward for weeks, first to be there when Kate went into labour and now as the couple left with her firstborn child.

Special moment: Prince William and Kate waved and smiled broadly to the waiting cameras as they held their prince on the steps of the private Lindo Wing at St Mary's Hospital in London

Close up: Kate held the baby as they descended the steps and revealed to waiting reporters they had not yet chosen a name

Statement: William and Kate both spoke to the press and the Prince said 'thankfully he has her looks'

Meanwhile, this evening the Queen told guests at a Buckingham Palace reception she was 'thrilled' at the birth of her great-grandson.

Earlier the royal baby's grandparents met him for the first time, and soon afterwards Kensington Palace confirmed the Duke, Duchess and baby would leave this evening.

Kate's sister Pippa is said to be there waiting for her.

Carole and Michael Middleton were the first to arrive at the private Lindo Wing at around 3pm today, with Prince Charles and his wife Camilla following them at 5.30pm after being rushed to London by helicopter after two-days carrying out official duties in Yorkshire.

Before mounting the St Mary's Hospital steps, the smiling Prince of Wales asked journalists who have been stood outside for almost three weeks: 'Have you been there long?'

When he left around 10 minutes later, Charles said the baby was 'marvellous' and told journalists: 'You'll see in a minute'.

When he left around 10 minutes later, Charles said the baby was 'marvellous' and told journalists: 'You'll see in a minute'. Read more: dailymail.co.uk