Princess Charlotte: Duke and Duchess of Cambridge leave Kensington Palace for Anmer Hall

Princess Charlotte and her parents the Duke and Duchess of Cambridge have left Kensington Palace to start parenthood at their Norfolk home, Anmer Hall.

Prince William and Kate Middleton will spend the next few weeks with four-day-old Charlotte and one-year-old son George away from the public glare at the mansion on the Queen's Sandringham Estate.

The couple were seen leaving the London palace in a Range Rover with William, who is on two weeks' paternity leave from his job as an air ambulance helicopter pilot, behind the wheel.

The newborn baby has already twice been visited by grandfather Prince Charles and on 5 May, the Queen was seen arriving at Kensington Palace on her own to meet her fifth great-grandchild.

The Duke of Edinburgh Prince Phillp has not yet met Charlotte, while the Duchess of Cambridge's parents, Michael and Carole Middleton, and sister Pippa, met her a few days ago.

Charlotte, who was born at 8.34am on Saturday, 2 May, at the Lindo Wing of St Mary's Hospital in Paddington, London, at a weight of 8lbs 3oz (3.7kg), was on 5 May officially registered by Westminster Register Office.

On the certificate, William and Kate's occupations are "Prince of the United Kingdom" and "Princess of the United Kingdom" respectively.