The new mummy was greeted to cheers from well-wishers on the New York sidewalk as she and her husband Marc Mezvinsky headed for home with their three-day old baby.
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Chelsea Clinton and Marc Mezvinsky with newborn baby Charlotte
They were joined by delighted first-time grandparents, President Bill Clinton and Hillary Clinton, who looked immensely proud as they watched Chelsea and Marc coo over little Charlotte.
Chelsea's appearance on the steps of the hospital has understandably drawn comparisons to the moment the Duchess of Cambridge first presented Prince George to the world.
Her blue and white dress was similar in style and colour to the polkadot Jenny Packham number Kate wore to make her post-baby debut outside St Mary’s Hospital in London in July 2013.
First-time mum Chelsea Clinton welcomed her daughter on 26 September
First-time mum Chelsea made the announcement of her daughter's birth via Twitter early on Saturday morning.
"Marc and I are full of love, awe and gratitude as we celebrate the birth of our daughter, Charlotte Clinton Mezvinsky," she wrote. "At 7.03pm on September 26th, we finally met Charlotte. We're in love."
On Monday, Chelsea again took to Twitter to thank the hospital and its staff, writing: "Marc & I are very grateful to the drs, nurses & staff @lenoxhill for their excellent care!"
Hillary and Bill Clinton said they were "thrilled" to be Charlotte's grandparents
As for the new grandparents, they also released a statement following Charlotte's arrival.
"We are blessed, grateful, and so happy to be the grandparents of a beautiful girl," Bill and Hillary said. "We are thrilled to be with our daughter and her husband as they welcome their daughter into the world.
"Chelsea is well and glowing. Marc is bursting with pride. Charlotte's life is off to a good start."