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The Queen meets Princess Charlotte at Kensington Palace

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The Queen has met her great-granddaughter Princess Charlotte for the first time on Tuesday. Prince William and the Duchess of Cambridge, née Kate Middleton, introduced their newborn baby to Her Majesty in their apartment at Kensington Palace, and the 89-year-old spent 30 minutes in her great-granddaughter's company.

queen elizabeth © Photo: Getty Images

The Queen was pictured leaving Kensington Palace after meeting Princess Charlotte

The Queen was previously expected to meet with the three-day-old before her name was announced on Monday. She will surely have been honoured that William and Kate have chosen to name their first daughter Charlotte Elizabeth Diana in recognition of her.

Her Majesty was carrying out a day of engagements in Yorkshire when her fifth great-grandchild arrived on Saturday. The monarch gave a sartorial nod to the new Princess of Cambridge by sporting a vibrant fuchsia outfit, and thanked well-wishers for their congratulatory messages during her visit to Richmond Castle in North Yorkshire.

queen elizabeth1 © Photo: Getty Images

Princess Charlotte Elizabeth Diana is the Queen fifth great-granddaughter

Other members of the royal family to have already met the new Princess include an "absolutely delighted" Prince Charles and the Duchess of Cornwall. Kate's parents Carole and Michael Middleton also visited the family at Kensington Palace along with their daughter Pippa on Sunday.

Meanwhile Prince Harry has said that he "can't wait" to meet his "absolutely beautiful" niece when he returns from Australia.

kate middleton © Photo: Getty Images

William and Kate welcomed their first daughter on Saturday

Following the Queen's visit William and Kate are expected to make the journey to their country residence, Amner Hall, where they will spend private time together as a family. The couple will spend the next few weeks at their country retreat where they will adjust to life as a family of four and help Prince George settle into his new role as a big brother.

Princess Charlotte of Cambridge was born on 2 May at 8:34am in the exclusive Lindo Wing of St Mary's Hospital, weighing 8lbs 3oz.

William and Kate have since expressed their gratitude for all the well wishes received across the globe. A statement posted on Twitter, read: "The Duke and Duchess are hugely grateful for the messages of congratulations they have received from people all over the world. It means a great deal to them that so many people have celebrated the arrival of their new daughter."