Home sweet Home... Royal family delights the idea of discharge of king Charles and princess Kate from the hospital

Finally home! Kate is reunited with her three children for the first time in two weeks after leaving hospital... And King Charles is delighted to be discharged too!

The Princess of Wales has been reunited with her three children for the first time in two weeks after finally leaving hospital.

Kate, who is said by Kensington Palace to be ‘doing well’, left The London Clinic in Marylebone yesterday morning after being admitted for surgery on January 16.

King Charles was also discharged yesterday after surgery for an enlarged prostate, with the two royals leaving the central London hospital within hours of each other.

The King has been advised to avoid public engagements for up to a month, although he will be working through his red boxes of state papers almost immediately. Kate, 42, is unlikely to be seen in public until after Easter.

The Mail can reveal that Prince George, ten, Princess Charlotte, eight, and five-year-old Prince Louis were not taken to visit their mother in hospital after she recovered from what has been described as ‘abdominal surgery’.

Kate is expected to have reunited with her children this afternoon after they returned from school. Pictured: The family arrive to attend the Christmas day service at St Mary Magdalene Church in Sandringham.

Royal aides at Kensington Palace said the Princess of Wales was 'making good progress'

Kate's children did not visit her while she was recovering from surgery, and would only have seen her this afternoon after school.

William, Kate, Prince George, Princess Charlotte and Prince Louis at the Together At Christmas carol service at Westminster Abbey in early December.

As her children would have been in school when she arrived back at her Windsor home, it is likely they would only have seen her for the first time when they returned to Adelaide Cottage later in the afternoon from Lambrook School, a ten-minute drive away.

It will almost certainly be the longest period the Princess has been away from them.

William and Kate have both prioritised their children over everything, arranging engagements so at least one is able to do the school run where possible.

They have also ensured that foreign tours are shorter to allow them to be home at weekends, the only exception being their 2022 trip to the Caribbean.

It is understood that Prince William, who had cleared his diary to be by his wife’s side throughout, was at the hospital when she was discharged and is likely to have driven her home.

In a statement yesterday, a Kensington Palace spokesman said: ‘The Princess of Wales has returned home to Windsor to continue her recovery from surgery. She is making good progress.

‘The Prince and Princess wish to say a huge thank you to the entire team at The London Clinic, especially the dedicated nursing staff, for the care they have provided.

‘The Wales family continues to be grateful for the well wishes they have received.’

It is thought the princess left through a private exit at around 11am in a car with her husband. Prince William wants to spend time by his wife's side as she convalesces.

Kensington Palace staff were seen leaving half an hour later, one with an arrangement of white orchids in their car.

Kate will now recuperate at home and her return to official duties will depend on medical advice closer to the time.

It has been suggested she might not be able to undertake public duties until after Easter, meaning all planned engagements – including two foreign trips – have been cancelled, although aides hope they can be rearranged. 

It is understood William plans to restart public engagements once his wife is settled and recuperating at home, with further details to be announced. 

He has had help from the couple’s nanny, Maria Turrion Borrallo, and his in-laws, Michael and Carole Middleton, who will continue to lend a hand.

Kensington Palace said they will not discuss the princess’ condition any further and that it is her ‘wish’ for her personal medical information to remain private.

King Charles, however, made a very public exit from hospital yesterday with his wife, Queen Camilla, who has visited him daily and spent hours at his bedside.

The 75-year-old monarch scotched claims there had been fears for his health, smiling broadly and waving to the public and media as he left at 3pm. His condition is benign. 

He went to his car without a sign of discomfort, even winding down the window to smile and wave again.

The King has been praised for his openness about his diagnosis in the hope it will encourage other men to come forward and seek help. One in three men his age experiences prostate problems.

NHS England said the ‘enlarged prostate’ page on its website received one visit every five seconds on the day the King’s diagnosis was announced, with further boosts in the following days.

Camilla had previously said her husband is 'fine' and looking forward to getting back to work. 

Buckingham Palace said yesterday: ‘The King has rescheduled forthcoming public engagements to allow for a period of private recuperation.

‘He would like to thank the medical team and all those involved in supporting his hospital visit, and is grateful for all the kind messages he has received in recent days.’

Kate went into The London Clinic 14 days ago on Tuesday, January 16 - with royal sources saying she was 'making good progress' and would now continue her recovery from home. 

Charles visited Kate last Friday morning before his operation and has also been visited by his wife Queen Camilla four times at the hospital in in Marylebone. 

The 75-year-old monarch was admitted last Friday morning at about 9am as he underwent a corrective procedure for the benign condition. 

The road had been cleared but a large crowd of children and onlookers had gathered to watch as they got into a waiting car. 

There was a strong presence of uniformed police officers who stood guard as the royal couple were driven away. 

The King was twice visited by Queen Camilla yesterday, the third and fourth times she has been to see him at the private hospital since they arrived. 

The King arrived in London from Norfolk last Thursday, ready for the procedure after squeezing in a couple of behind-the-scenes official duties.

He was diagnosed with the benign condition on January 17 while staying at Birkhall, Aberdeenshire, after going for a check-up because he was experiencing symptoms.

News of his diagnosis came on the same day that Kensington Palace announced the princess was in hospital.