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Royal baby visited by Prince Charles, Camilla, the Middletons

Updated 1:15 p.m. ET

It was visiting day on Tuesday for Prince William, Kate, Duchess of Cambridge, and their newborn baby boy.

New grandfather Prince Charles visited St. Mary's Hospital with wife Camilla, Duchess of Cornwall, waving to the media gathered outside before entering the hospital's Lindo Wing.

Visiting his grandson for the first time, Prince Charles said the baby is "marvelous" and told reporters that they will see him "in a minute."

Carole and Michael Middleton, parents of Kate, Duchess of Cambridge, arrive at St. Mary's Hospital in London on July 23, 2013. Prince William and his wife have thanked staff at the hospital, where their baby son was born on July 22, as the world waited for a name and hopefully a glimpse of the future king. Getty

Earlier, at around 3 p.m., local time, Kate's parents, Mike and Carole Middleton, came to visit their one-day-old grandson.

After staying for about an hour, the couple departed the hospital. According to the BBC, Carole Middleton told reporters waiting outside that the baby is "absolutely beautiful."

The baby boy, whose name has not yet been revealed, was celebrated Tuesday with gun salutes by royal artillery companies and the ringing of bells at Westminster Abbey. A band of scarlet-clad guardsman also delivered a rendition of the song "Congratulations" at Buckingham Palace, where the birth announcement is displayed on an easel as per royal tradition.

Earlier Tuesday morning, Prince William and Kate issued a statement thanking the hospital.

"We would like to thank the staff at the Lindo Wing and the whole hospital for the tremendous care the three of us have received," the Duke and Duchess of Cambridge said. "We know it has been a very busy period for the hospital and we would like to thank everyone -- staff, patients and visitors -- for their understanding during this time."

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