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Duchess Kate of Cambridge safely delivered a baby girl at 8:34 a.m. London time Saturday.

The baby arrived after less than three hours of labor. At 5:30 p.m. London time, Kensington Palace announced that mother and baby would be leaving the hospital Saturday evening local time.

Shortly after, Prince William and Duchess Kate emerged from the hospital, posed and waved to the crowd and got into cars to return to Kensington Palace.

Kate looked fresh and relaxed as she held her baby in her arms. She was dressed in a yellow-and-white buttercup-print shift dress by Jenny Packham. Her hair was loose and flowing. She did not look as if she had just been through labor.

It was a rapid end to a long week of waiting.

“Her Royal Highness The Duchess of Cambridge was safely delivered of a daughter at 8.34am,” Kensington Palace announced by Twitter and email. “The baby weighs 8lbs 3oz.”

“Prince William, Duke of Cambridge, was present for the birth.