Catherine, Duchess of Cambridge, and Prince William, Duke of Cambridge, are pictured with their newborn boy, Prince George of Cambridge, and Tilly, left, a Middleton family pet, and Lupo, the couple's cocker spaniel. The new parents released two family photographs with their son, taken by Michael Middleton, Catherine's father. 
The couple poses with Prince George in early August at the Middleton family home in Bucklebury, Berkshire. 
The Duke and Duchess of Cambridge depart St. Mary's Hospital in London with their newborn son on Tuesday, July 23. The boy was born at 4:24 p.m. a day earlier, weighing 8 pounds, 6 ounces. 
Catherine holds the baby outside the hospital for the public's first view. 
The new parents stand in front of the Lindo Wing of the hospital. 
A Kensington Palace spokesman said: "Mother, son and father are all doing well this morning." 
Catherine hands the baby off to William. 
"He's got her looks, thankfully," William said. 
"It's very special," said William. The prince has already changed his first diaper, the couple told reporters. 
The new parents leave the hospital with William carrying the boy out in a car seat and installing him in the back of a black SUV for the trip to Kensington Palace. 
The newborn sits in his car seat for the ride home. 
Prince William gets ready to depart St. Mary's Hospital. 
Catherine waves to the crowd gathered outside the hospital. 
Well-wishers see the royal couple off after getting a glimpse of the newest heir to the British throne. 
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- The photos were taken earlier this month at the Middleton family home
- Two family pets appear alongside the royal family
- William calls George "a little bit of a rascal"
(CNN) -- What a sweet snapshot: Mom, dad, the baby boy ... and two charming canines.
It's one of two photos released Tuesday by Kensington Palace of the Duke and Duchess of Cambridge, their newborn son, Prince George, and a couple of four-legged friends.
The photos were shot by Michael Middleton, Catherine's father, in early August in the garden of the Middleton family home in Bucklebury, Berkshire.
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The royals: A new prince One portrait shows Catherine, the Duchess of Cambridge, beaming while holding the swaddled George, who is third in line to the British throne. The happy husband, Prince William, is beside them, all smiles.
They are accompanied on the left by Tilly the retriever, a Middleton family pet, and on the right by Lupo, the couple's cocker spaniel.
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The other portrait shows the royal couple alone with the young prince.
In his first official interview since George's July 22 birth, William told CNN's Max Foster that Lupo is taking the addition to the royal family in stride.
"He's coping all right, actually," William said.
"As a lot of people know who have got dogs and bringing a newborn back, they take a little bit of time to adapt, but he's been all right so far. He's been slobbering around the house a bit, so he's perfectly happy."
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Lupo will be a perfect playmate for George, whom William calls "a little bit of a rascal."
"He either reminds me of my brother or me when I was younger, I'm not sure, but he's doing very well at the moment," William told CNN, in describing the youngest member of the royal family.
"He's growing quite quickly actually. But he's a little fighter -- he wriggles around quite a lot and he doesn't want to go to sleep that much."
