The Queen has finally been introduced to her great-granddaughter Princess Charlotte.
The 89-year-old monarch travelled to Kensington Palace to meet with the newborn royal, where she stayed for just half an hour.
The Queen was spotted arriving in a green Range Rover at a side entrance to the palace at around 2.35pm. She then left just before 3pm through the main entrance on Kensington High Street, in a convoy of two cars and and four police motor bikes. Charlotte Elizabeth Diana, who was born three days ago, is the Queen's fifth great-grandchild and also shares her name.
She was not accompanied by her husband, Prince Philip, who was pictured earlier today at the Queen's estate in Norfolk, where he had spent the weekend.
Just after his mother left the palace, Prince Charles was also seen arriving for his second cuddle with the newborn royal. The doting grandfather, who has openly spoken of his hope that his son and daughter-in-law would have a girl, had already been to visit Princess Charlotte with Camilla on Sunday.
It is likely he was taking the chance to see as much as he can of his granddaughter before Prince William and Kate leave London for their Norfolk county home, Anmer Hall on the Sandringham Estate. The couple are due to leave later today.
The monarch's visit came as the Duke of Cambridge formally registered the birth of his baby daughter, in a near identical way to the manner in which Prince George's birth was registered.
As with the royal birth in 2013, The Duke of Cambridge signed the birth register at Kensington Palace witnessed by a Registrar from Westminster Register Office. On the certificate, he gave his wife's occupation as 'Princess of the United Kingdom'.
Kate, 33, has rarely described herself as a princess, preferring to use the title Duchess of Cambridge, which was conferred on her by the Queen on her wedding day. But she is also Princess William of Wales, entitling her to be described as "Princess of the United Kingdom".
The 32-year-old duke gave his occupation as "Prince of the United Kingdom" rather than a helicopter pilot.
Normally, parents have to attend a register office within 42 days of a child being born. But in the case of Princess Charlotte, the deputy registrar of Westminster, Alison Cathcart, travelled to Kensington Palace.
The same registrar also visited the palace after George's birth. She has presided over several celebrity marriages including those of Sylvester Stallone, Joan Collins, Paul McCartney, Barbara Windsor and David Walliams.
After signing Prince George's birth certificate, she revealed how her big day nerves led her to botch the royal form-filling which triggered death threats and calls for her to be sacked over her messy handwriting.
She described how her royal assignment - "probably the highlight of my career" - was marred by an attack of nerves, saying she had to have "more than one attempt".
William was given a standard certificate to register the birth of "Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge". Miss Cathcart filled it in before it was signed by the duke.
The certificate states the date and place of Charlotte's birth - May 2 and Paddington, Westminster. William's full name, His Royal Highness Prince William Arthur Philip Louis Duke of Cambridge, is given, and the certificate includes Kate's full name of Catherine Elizabeth Her Royal Highness The Duchess of Cambridge, her birthplace as Reading and her maiden name of Middleton.
The couple's "usual address" is described as Kensington Palace, London, and the duke signed the certificate simply "William".
Kensington Palace said in a brief statement: "The Duke and Duchess of Cambridge have formally registered the birth of Princess Charlotte.
"The Duke of Cambridge signed the birth register at Kensington Palace this afternoon witnessed by a registrar from Westminster Register Office."
Princess Charlotte's birth register document will be kept, along with thousands of others, at the Westminster Registration Office.
Ms Cathcart said: "It was an honour to register the birth of Princess Charlotte Elizabeth Diana. Westminster City Council has a long history of registering royal births, including Prince George, and it's a pleasure to formally welcome the latest addition to the family."
- Daily Mail