The royal couple beamed with happiness as they left left the Grand-Duchesse Charlotte Maternity Wing at the Centre Hospitalier de Luxembourg with two-day-old Princess Amalia.
Prince Félix and Princess Claire take baby Amalia home
In it, Princess Claire, 29, is seen cradling her tiny, day-old baby, who is dressed in a pink-and-white hand-smocked dress. Doting dad Prince Félix, meanwhile, sits beside his wife and places a protective arm around his girls.
Félix and Claire leave the hospital and say goodbye to staff members
In a statement to announce her birth, the royal palace of Luxembourg said: "The Grand Duke and Grand Duchess are very happy to announce the birth of the first child of their royal highnesses Prince Félix and Princess Claire. The baby was born on 15 June 2014 at the Grand-Duchesse Charlotte Maternity Wing at the Centre Hospitalier de Luxembourg."
Félix and Claire paid tribute to their respective mothers, Grand Duchess Maria Teresa and Gabriele Lademacher, with their daughter's middle names.
"The young princess will bear the names Amalia, Gabriela, Maria Teresa. She weighed 2.95kg and measured 50cm at birth," confirmed the statement, which also told how Félix was present at the birth and that mother and baby are doing well."
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It ended: "The Grand Duke and Grand Duchess as well as Mr and Mrs Lademacher and their families expressed their best wishes and joy at the happy news."
Second-in-line to the throne Prince Félix and Princess Claire, née Claire Lademacher, married in September of last year in a romantic ceremony surrounded by their family and friends.