Well, hello there, your Royal Highness! On Tuesday July 22, one day after his birth, the as-yet-unnamed Prince of Cambridge made his worldwide debut, as parents Kate Middleton and Prince William emerged outside the Lindo Wing at St. Mary's Hospital. (Palace reps said in a Tuesday evening statement the "Duchess is to be discharged from the hospital.")

PHOTOS: Kate Middleton's baby bump style

The Duke and Duchess of Cambridge, both 31, smiled for hundreds of clicking cameras and cheering well-wishers as they offered the first-ever glimpse of their first-born, who arrived at 4:34 p.m. on Monday, July 22 and weighed a healthy 8 lbs., 6 oz.. "He's got a good pair of lungs on him that's for sure. He's a good boy, he's quite heavy," said William, flushed and wearing a blue oxford shirt. "It's the first time we've seen him, really we haven't had a proper chance to catch up."

Added Kate, stunning in a short-sleeved light blue dress: "It's such a special time. i think any parent probably sort of knows what this feeling feels like." She added of his late arrival: "I'll remind him of his tardiness when he's a bit older!"

Added William: "He's got her looks, thankfully."

Back in June 1982, an infant William made his own world debut as parents Princess Diana and Prince Charles introduced him on the very same steps outside St. Mary's. The third in line to the British throne has been meeting his family members for much of Tuesday -- including paternal grandfather Prince Charles, and maternal grandparents Carole and Michael Middleton.

PHOTOS: Royal family's baby photos

"He's absolutely beautiful," Carole told the press upon leaving the hospital. "We are so thrilled. They are both doing really well."Kate and William acknowledged the work of the staff at St. Mary's -- where William, brother Harry and other royals have been born -- in a statement early Tuesday.  "We know it has been a very busy period for the hospital and we would like to thank everyone -- staff, patients and visitors -- for their understanding during this time."

PHOTOS: Diana's pregnancy with William

The new family are expected to briefly go back inside the Lindo Wing, put the baby in the carseat, and then head home to Kensington Palace Tuesday evening.

This article originally appeared on Usmagazine.com: Royal Baby Introduced by Kate Middleton, Prince William in London: First Picture