Introducing His Royal Highness Prince of Cambridge! After months of waiting for Kate Middleton to give birth, and then hours of waiting for the new mom to emerge from St. Mary's Hospital with Prince William and their little bundle of joy, the royal baby finally made his public debut just after 7 p.m. local time on Tuesday, July 23. And it was well worth the wait.

With the eyes of the world upon her, the Duchess, radiant in a cornflower-blue bespoke crepe de chine dress by Jenny Packham, carefully descended the steps with the newborn prince in her arms. She was escorted by her husband, who wore a matching light-blue oxford shirt. Both waved and smiled for the hundreds of well-wishers and reporters gathered outside the hospital.

"He's got a good pair of lungs on him, that's for sure. He's a big boy, he's quite heavy," William said of his son, who weighed a healthy 8 pounds, 6 ounces, when he was born at 4:34 p.m. on Monday, July 22. "It's the first time we've seen him; really we haven't had a proper chance to catch up."

"It's very emotional," Duchess Catherine gushed of becoming a mom. "Such a special time. I think any parent probably sort of knows what this feeling feels like."

"I'll remind him of his tardiness when he's older," the Duke quipped of the baby's late arrival. "Hopefully the hospital and you guys can all get back to normal now." Then, addressing another reporter, he noted, "He's got her looks, thankfully."

The couple chatted briefly with a few other well-wishers before returning to the Lindo Wing. When they re-emerged a few minutes later, the little prince was strapped into a carseat. William secured his son in the car and then hopped into the driver's seat to take his new family home.

Watch the video now!