Royal Baby's First Day Home

Aunt Pippa Middleton was reportedly there to greet the 8-pound, 6-ounce heir to the throne.
3:00 | 07/24/13

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Transcript for Royal Baby's First Day Home
Exactly. We're now just getting word on how the future king has a very special visitor this morning. Let's get out to abc's amy robach who is outside kensington palace in london, with the very latest. Good morning, amy. That's right. Good morning,everyone. This is another exciting morning in london. We're learning that the queen has just met, for the very first time, her great grandson. Still baby cambridge because we don't know his name yet. Who will one day take to the throne. And it came with perfect timing for the queen because she is about to set off on her annual holiday in scotland. This morning, abc news has learned that kate and will, seen in the streets of london with their new prince, spent the first night out of the hospital without a nanny. The duke and duchess want to bond with their son alone. The couple's much-anticipated departure from st. Mary's hospital. Where they showed the world for the first time, their 8 pound, 6-ounce boy. He's got a set of lungs. That's for sure. Reporter: The couple looked relaxed and happy. For royal watchers, the moment was very similar to the one 31 years ago, when prince charles and princess diana introduced prince william to the world. There were some differences. William told reporters he's a modern dad. He's changed a diaper. He did the first one earlier. It was good. Reporter: And then, there was the baby's mode of rture. Back in 1982, william rode home on princess diana's lap. William, followed rules installing the car seat himself. Earlier in the day, first-time grandparents, carole and michael middleton, saw their grandson for the first time. He's absolutely beautiful. They're doing really well. They're so thrilled. Reporter: And prince charles paid a visit, as well. Lovely. Reporter: It's believed aunt pippa, kate's sister was waiting to greet the new family of three when they arrived home. And just an hour ago, the baby's great grandmother, the queen, stopped by to visit the new heir to the throne. The historic meeting marked one more milestone for this young family of royals. "The daily mail," we see the baby's first royal wave. How cute are those little fingers. I think he has it down pat. We can't wait to hear the name. We may hear it by the end of the day. And we'll bring it to you. And prince harry, we don't believe has met his nephew. He just returned back from the military base. He has a public event here. We hope that meeting takes place soon, as well. I love the idea the baby has no idea the stir he's creating all over the world.

This transcript has been automatically generated and may not be 100% accurate.

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