Princess Charlotte meets her great-grandmother, Queen Elizabeth II

She's just three days old, but Princess Charlotte Elizabeth Diana has already gotten her first audience with the queen.

Queen Elizabeth II arrived at London's Kensington Palace on Tuesday to meet the newest addition to the royal family.

Charlotte, born on May 2, is the monarch's fifth great-grandchild and the second child for Prince William and Kate, Duchess of Cambridge. She's fourth in line to the throne, behind her grandfather, father and older brother, 21-month-old Prince George.

The baby princess' middle name was chosen to honor the queen and her third name pays tribute to William's mother, the late Princess Diana. Charlotte is a name with a long royal history and is also the feminine form of her grandfather's name, Charles.

The Duke and Duchess of Cambridge also registered their daughter's birth Tuesday. Her father signed the document at Kensington Palace, witnessed by an official from the Westminster Register Office. The palace shared a photo of the document on Twitter, revealing that -- just as on George's birth record -- William and Kate's occupations are listed as "Prince and Princess of the United Kingdom."