Queen Elizabeth Visits Prince William and Kate Middleton's Baby Boy

July 24, 2013 -- The Duke and Duchess of Cambridge spent their first night at home with their baby boy and had a few important visitors along the way.

Queen Elizabeth II made a trip to Kensington Palace to visit William and Kate, both 31, and her new great-grandson earlier today.

The queen, who joked last week that she was eager for the baby to arrive because she was "going on holiday," was spotted being driven to the palace to visit the baby, her third great-grandchild. The queen traditionally spends her summer holidays on her private Balmoral estate in Scotland.

Sign the Royal Baby Guestbook

The birth of Prince William and Kate's first child marks the first time in almost 120 years that a reigning monarch, Queen Elizabeth, 87, is alive at the same time as three generations of heirs: Prince Charles, 64, Prince William and, now, the latest addition to the family.

Not long after the Queen left Kensington Palace, Prince William and Kate were spotted leaving their home themselves, driving away in a Range Rover with William in the front seat and Kate, her hair pulled back in a ponytail, sitting in the backseat with their new son.

A spokesman for William and Kate also confirmed that Prince Harry, 29, the newborn's uncle and Prince William's younger brother, has now seen the couple and their baby.

Photos of Radiant Kate Showing off Royal Baby Boy

Middleton's siblings, Pippa and James Middleton, also both reportedly saw the new addition to the family Tuesday night.

The royal meetings took place one day after the world was introduced to the third heir in line to the throne as his parents left St. Mary's Hospital's in London and posed for photographs, giving throngs of supporters their first glimpse of the 8-pound, 6-ounce newborn.

Middletons say their grandson is 'absolutely beautiful.'

As for now, the royal couple are said to be taking care of their child without the help of a nanny. But the couple has not ruled out hiring a nanny in the future, according to the palace.

The royal family of three spent their first night together at home in a two-bedroom cottage in Kensington Palace.

Celebrations Welcome Baby's Arrival

Prince William and Kate will eventually raise their bundle of joy in apartment 1A of Kensington Palace, the same palace where William grew up, noted for its ornate interior design and picturesque gardens.

Apartment 1A is still under construction with new plumbing, asbestos removal and roof repairs still incomplete. The apartment, which is actually a four-story space, has not been renovated since the 1960s, when it was the home of Queen Elizabeth's sister, Margaret.

Kensington Palace, built in the 17th century, is surrounded by sprawling gardens on all sides to provide a serene setting away from the bright lights. The future heir to the throne is also expected to spend time at Kate's family home in Bucklebury.

ABC News' Katie Kindelan and Christina Ng contributed to this story.