The Duchess of Cambridge was discharged from the King Edward VII Hospital today and was taken to Kensington Palace for a period of rest.
Kate left the central London private hospital where she has been treated since Monday for severe morning sickness looking relaxed.
She emerged carrying a bouquet of yellow flowers and walked from the building with William.
She gave a brief smile to the waiting press before being driven away with her husband.
Kate, who is less than 12 weeks pregnant, was wrapped up against the cold in a coat and scarf.
The royal couple will now spend time at their London home, Kensington Palace, to allow for the Duchess to recuperate from the effects of the severe morning sickness.
She was admitted on Monday after developing the condition known as hyperemesis gravidarum, and was suffering from the effects of dehydration.
For medical staff to allow Kate to go home, her severe vomiting must be under control and they are likely to have given her anti-sickness medication.
Her discharge comes the day after it emerged that two Australian radio DJs impersonated the Queen and the Prince of Wales to dupe hospital staff into giving a condition update on the Duchess.
The 2Day FM presenters, Mel Greig and Michael Christian, apologised for their actions, as did their radio station.
But Christian has been promoting their stunt on Twitter telling followers in a tweet: "Still haven't heard the £RoyalPrank that has the world talking? Listen to it here..."
In a brief statement, St James's Palace said: "The Duchess of Cambridge has been discharged from the King Edward VII Hospital and will now head to Kensington Palace for a period of rest.
"Their Royal Highnesses would like to thank the staff at the hospital for the care and treatment the Duchess has received."