July 23, 2013— -- The world has gotten its much-anticipated first glimpse of Prince William and Kate Middleton's new royal baby boy.
In line with royal tradition, the Duke and Duchess of Cambridge stepped out of the doors of St. Mary's Hospital's Lindo Wing in London today to pose for photographs amid the wild cheers of the crowd gathered outside.
A radiant Kate held the newborn in her arms. The day-old baby was swaddled in a white blanket and poked his hand out, as if to greet the world.
Kate wore a baby-blue polka dot dress with her long brown hair flowing around her shoulders.
The new mom then handed the 8-pound, 6-ounce baby boy to his beaming father.
"He's got a good pair of lungs. That's for sure," William told the crowd. " He's a big boy. He's quite heavy. We're still working on a name, so we'll have that as soon as we can."
"It's the first time we've seen him, really, so we're having a proper chance to catch up," a smiling William said.
"It's very emotional," Kate said. "It's such a special time. I think any parent will know what this feeling feels like."
"He's got her looks, thankfully," William joked.
Kate quickly laughed and responded, "No, no, no."
As for the baby's hair, William quipped, "He's got way more than me, thank God."
Kate also said that William has already "done his first nappy," or changed a diaper.
Before heading back into the hospital, William said, "I will remind him of his tardiness when he's a little older because I know how long you've all been standing out here. I hope you guys can get back to normal now and we can look after him."
Minutes later, the new parents came back out with the baby in a car seat. William got in the driver's seat and Kate got in the back with the baby as they drove off.
The historic moment was captured by the hordes of photographers outside who have been camped out for weeks.
The royal heir's name has not yet been announced. His title will be His Royal Highness Prince (name) of Cambridge.
Kensington Palace announced in a news release that HRH the Duchess of Cambridge would be discharged today from the hospital.
"The Duke and Duchess of Cambridge and their son will travel home to Kensington Palace," the statement said. "Their Royal Highnesses would like to reiterate their thanks to the hospital for the care and treatment they have all received."
The baby enjoyed his first visit with his grandparents today.
Kate Middleton's parents, Michael and Carole Middleton, were the first to visit their new grandson at the hospital in London where the royal baby was born Monday. They spent a little more than an hour at the hospital.
As they left, Carole Middleton told reporters of her first grandchild and his parents, "He's absolutely beautiful and they're doing so well."
When asked whether she could reveal the baby's name, Middleton, 58, laughed and said, "Absolutely not!"
She said the new parents are doing "fabulously" and that the first cuddle with her new grandson was "amazing."
"It's all coming back," the mother of three said as she beamed with joy.
Kate, 31, is the oldest of her three children, followed by Pippa Middleton, 29, and James Middleton, 26.
Prince Charles and his wife Camilla, Duchess of Cornwall, also visited the hospital shortly after. They smiled and waved as crowds cheered and they made their way inside.
Upon leaving, Charles hinted that the family would be coming out soon, saying, "You wait and see you'll see in a minute."
Watch "The Royal Baby: Heir to the Throne," a "20/20" special TONIGHT at 10 ET.
The world had been eagerly awaiting the first glimpse of the third in line to the British throne.
Camera crews have been lined up across the street from the Lindo Wing for weeks, waiting for the money shot when Kate Middleton and Prince William emerge from the hospital with their 8-pound, 6-ounce newborn son. Officials said William, who was by his wife's side during the birth, also spent the night in the hospital.