Hilaria, who had given birth two days before, was dressed in a black maxi dress and matching black flip flops.
Following closely behind was Alec, who was pictured with a broad smile as he carried his newborn into the building.
Just three days after welcoming little Carmen into the world, yoga instructor Hilaria has revealed that her perception of 'love' has changed.
"Since giving birth, the word 'love' has taken on a whole new meaning. Its depth, and intensity are overwhelming in the most welcome way," she said.
The happy couple, who married in 2012, welcomed their first child together on Friday, a little girl named Carmen Gabriela.
"We are overjoyed to announce the birth of our daughter Carmen Gabriela. She is absolutely perfect. @ABFalecbaldwin @IrelandBBaldwin," wrote Hilaria.
Baby Carmen Gabriela is the first child for Alec and Hilaria. The 30 Rock actor is also father to his daughter Ireland Baldwin, with his former wife, actress Kim Basinger.
Ireland, 17, was quick to welcome the happy news, sharing her joy on Twitter.
"I was born October 23. Carmen was born Friday, August 23. ❤," posted the model. She then wrote a touching letter addressed to her newborn stepsister and published it on her Tumblr page.
"Dear Carmen," began the letter. "You have entered the world! Welcome! We have all been anticipating your arrival!
"Girl, you haven’t even met them, but there are a ton of people who care about you... There are so many things I want to tell you, though it is best that you discover those truths on your own.
"There are countless lessons that I want to teach you, but I have faith that you will learn a majority of them on your own journey and they will help you grow."
Ireland then continued by sharing some of her own "little knowledge" about the facts of life, and giving the newborn some treasured advice.
"I love you, Carmen. You have been born into one crazy family," ended the letter. "I promise you I will always be there for you no matter what! Never forget!"