The Duke and Duchess of Cambridge have left Kensington Palace with their four-day-old daughter Princess Charlotte and her elder brother George for their Norfolk home Anmer Hall.
The Duke and Duchess of Cambridge named their daughter Charlotte Elizabeth Diana in honour of the Queen and also Prince William's mother.
Gun salutes will be fired in the new princesses' honour on Bank Holiday Monday.
Soldiers from The King's Troop Royal Horse Artillery will sound 41 shots in Hyde Park at 2pm.
At the same time, a 62 Gun Salute by the Honourable Artillery Company will take place at the Tower of London.
The Royal Navy sent a special message of congratulations to William and Kate from HMS Lancaster.
Sailors on board the Type 23 Frigate, which is known as the Queen's Frigate, spelled out the word Sister on the deck which was then photographed by the ship's helicopter.
The Hilton London Paddington Hotel near the Lindo Wing was being lit up in pink lights, while Tower Bridge was also turning pink as well.
The Takasakiyama Natural Zoological Garden in Oita is now considering renaming Charlotte after complaints from the Japanese public.
Kensington Palace warning over 'harassment' around Sandringham where Kate and William are staying with princess Charlotte and prince George.
Naming the royal baby Charlotte Elizabeth Diana will be seen as a tribute to the Duke of Cambridge's father, mother and grandfather.