After posing for pictures for the world's media, the couple said they were still working on a name for their son and were feeling "very emotional".
Kate, wearing a blue polka-dot dress, smiled and waved at the cheering crowds as she held her baby, who was wrapped in a white blanket.
Kate was holding the boy first before passing him to her husband.
"He's got a good pair of lungs on him, that's for sure," William told the press, while Kate said the couple was "very emotional" after welcoming their first child, a new third in line to the British throne.
Prince William and his wife Kate were set to leave hospital with their newborn son on Tuesday evening and return home to Kensington Palace, the palace confirmed in a statement.
"Her Royal Highness The Duchess of Cambridge will be discharged this evening from St. Mary's Hospital, Paddington," the palace had said.
"The Duke and Duchess of Cambridge and their son will travel home to Kensington Palace."
The statement added that William and Kate wanted to "reiterate their thanks to the hospital for the care and treatment they have all received".
Their unnamed baby son, the new third in line to the British throne, was born at the central London hospital at 4:24 pm (1524 GMT) on Monday weighing a healthy 8 lbs 6 oz (3.8 kilos).
The statement from the palace came shortly after William's father Prince Charles visited his new grandson, telling the press as he left: "You'll see in a minute."
source: www.abs-cbnnews.com
