UPDATE: The new princess has left the private Lindo Wing of St Mary’s hospital in London with her parents, the Duke and Duchess of Cambridge after less than 10 hours in the hospital.
The family waved to the crowds before putting the princess, dressed in a cream shawl and hat, into the car to drive to Kensington Palace.
The Duchess wore a yellow printed dress by one of her favourite designers, Jenny Packham.
Before the family departed, the Duke had left the hospital briefly to pick up Prince George, who visited his new baby sister and waved to the crowds with his father.
UPDATE: The Duchess of Cambridge has given birth to a baby girl.
Kensington Palace announced on Twitter that the new princess was born at 8:34am UK time.
The baby weighed eight pounds and three ounces.
All are healthy and well.
Her Royal Highness and her child are both doing well.
— Kensington Palace (@KensingtonRoyal) May 2, 2015
The wait is almost over, Kate Middleton nee the Duchess of Cambridge, has officially gone into labour.
The news was announced on Twitter, with @kensingtonroyal Tweeting:
“HRH The Duchess of Cambridge was admitted at 06.00hrs to St Mary’s Hospital, Paddington, London and is in the early stages of labour.”
“The Duchess travelled by car from Kensington Palace to the Lindo Wing at St. Mary’s Hospital with The Duke of Cambridge.”
The Duchess will welcome a baby brother or sister for Prince George, who will turn two on July 22.
Crowds have been gathering outside St Marys hospital for several weeks now waiting for the Royal Birth.
Earlier this week the Duke and Duchess sent the loyal troops breakfast and coffee to thank them for their support.
When the baby is born the announcement will follow royal tradition by being placed on the golden easel outside Buckingham Palace.
The baby will be fourth in line to the throne.
More to come.