KATE Middleton was discharged from hospital today and was taken to Kensington Palace for a period of rest.
The Duchess of Cambridge left King Edward VII 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.
The Prince of Wales said today he was "thrilled" that the Duchess of Cambridge was pregnant, adding: "It's a very nice thought to become a grandfather in my old age."
Kate's release 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."
A spokeswoman for Pregnancy Sickness Support, a charity which helps women with Kate's condition, said rest would be important for the Duchess and the Duke's support was also crucial.
Caitlin Dean, who suffered from hyperemesis gravidarum during three pregnancies and is a trustee of the charity, said: "One of the key things is she needs rest in bed or on a sofa.
"She will need people to look after her, literally bring food to her and quickly, if she wants a piece of toast or an apple it needs to come straight away before a bout of nausea sets in."
Kate's attendance at two royal engagements this weekend - a Centrepoint Royal Albert Hall fundraiser and the British Military Tournament - have already been cancelled.
Mrs Dean added: "Hyperemesis gravidarum can be quite cyclical. She will be feeling quite good now because she's hydrated, but she needs to keep taking fluids or that cycle can start again, taking sips of water frequently or any other liquid she can tolerate.
"She will be on medication, anti-sickness tablets, so it's important she takes them on time."
The trustee said William's support would also be important: "The emotional side is going to be really tough on her. It's just so unrelenting, you wake up thinking you've got a whole day to get through and this lasts for months.
"William is going to be really key. My husband was my rock and, as hard as it was, it brought us closer together."
The Duke is an RAF search and rescue helicopter pilot based at RAF Valley on Anglesey and is likely to get time off to help care for his wife.
The Duchess's mother and sister could step in to provide support for Kate when her husband is returns to work.