Kate Middleton and Prince William’s baby girl had some special guests on Sunday: her grandparents and aunt! Kensington Palace confirmed the news on Twitter, writing, “TRH were today visited by The Prince of Wales, The Duchess of Cornwall, Mr and Mrs Middleton, and Pippa Middleton.” According to reports, Carole Middleton was the first grandparent to meet the new princess . Hours after the exciting news was announced, Kate and William introduced her to the world on the steps of St. The 14 Sweetest Moments From the Royal Baby’s Birthday!