Just married!

After exchanging short and sweet vows and sitting through a moving service of music and prayer inside London's Westminster Abbey, Prince William and Kate Middleton took their first stroll -- and then carriage ride -- as husband and wife.

Smiling and greeting family members, heads of state, friends and well-wishers, William, 28, and Kate, 29, looked joyful and even a bit relieved that the big moment went through without a hitch.

Many observers noticed William cracking jokes in the midst of the historic day. He joked to Kate: "We were supposed to have just a small, family affair." (Kate almost burst out laughing.)

Boarding their carriage -- an open-topped 1902 State Landau carriage -- the fresh newlyweds even took a moment to chat.  "Are you happy?" he asked her. "It's mad!" he added of the crowds.

The couple's red and gold carriage should be familiar to royal watchers: Built for King Edward VII (Queen Elizabeth's grandfather), it carried Prince Charles to St. Paul's Cathedral for his 1981 wedding to Princess Diana, and the couple departed the church together in that carriage after exchanging their vows; the Duke and Duchess of York (Prince Andrew and Sarah Ferguson) also used it to travel to Buckingham Palace following their 1986 wedding. These days, Queen Elizabeth frequently uses the vessel to meet foreign heads of state visiting London.

Watch William and Kate's historic exit from Westminster and their fairy-tale carriage ride now!

Commemorate Will & Kate’s big day with our Us Collectors Edition: Royal Wedding with all the photos, anecdotes and details of the wedding. Available for pre-order now and on sale May 6.