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May 20, 2016 04:30 PM

There’s a sweet new face joining Belgium’s royal family.

Princess Anna Astrid was born on May 17 weighing 7.2 lbs and measuring 20.4 inches tall.

She left St. Peter’s Hospital in Brussels with her parents Prince Amedeo, the sixth in line to the throne, and his wife Elisabetta Rosboch Von Wolkenstein (usually known as Lili) around 4 p.m. on Friday, Belgium’s Royal Palace confirms to PEOPLE.

“Everyone is very happy,” the Palace spokesman says. “The little girl was named after her grandmother Anna on her mother’s side, and her grandmother Astrid on her father’s.”

Family members have been visiting the hospital to see mother and baby, who are both doing well, the spokesman confirms.

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“It’s all completely new to us,” first-time dad Prince Amedeo, who has a background in finance and currently works as a management consultant, told reporters.

“We are a little nervous, ” he admitted outside the hospital as his wife, a former journalist, cradled their newborn in her arms.

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The royal family’s newest member will enjoy the title of princess – but, for dynastic reasons, she will not be a Princess of Belgium, the palace spokesman confirms to PEOPLE.

“It’s entirely possible that she may assume other titles in due course,” according to the spokesman, who confirms that the young family will live in Brussels.

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