Princess Charlotte meets the queen

Usually, people go to the queen to meet her but not if you're the newest little Windsor, newborn Princess Charlotte of Cambridge.

Queen Elizabeth II went to Kensington Palace Tuesday to see her fifth great-grandchild, little Charlotte Elizabeth Diana, three-and-a-half days after she joined the world on May 2 as the second royal baby of Prince William and Duchess Kate.

Also on Tuesday, Will, like every other British parent, signed the official birth certificate for Charlotte, at Kensington Palace. She is Her Royal Highness Princess Charlotte Elizabeth Diana of Cambridge.

Her parents are identified, as per official titles for documents: His Royal Highness, Prince William Arthur Philip Louis (his full name), Duke of Cambridge, and his occupation is Prince of the United Kingdom. She is Catherine Elizabeth (Kate's full name), Her Royal Highness the Duchess of Cambridge, Princess of the United Kingdom.

(Actually, Will has another occupation, as an air-ambulance helicopter pilot, which is due to start full time on June 1 after his paternity leave ends.)

The queen returned from her Sandringham estate in Norfolk on Tuesday and popped over to the sprawling palace apartment of the Cambridges to see the new baby, where she stayed for less than an hour.

The queen did the same thing when Will's and Kate's son, Prince George, was born in July 2013, dropping in at the small un-air-conditioned apartment where the couple were then living. Soon after, the couple departed for the Middletons' estate in Bucklebury about 50 miles outside London.

Charlotte's grandparents, including Prince Charles and Carole and Michael Middleton, visited on Sunday, a day after she was born at St. Mary's Hospital maternity Lindo Wing 15 minutes from the palace.

The Cambridges are due to leave shortly, possibly as soon as Wednesday, for Norfolk, to their country home on the Sandringham estate, Anmer Hall, where they are expected to call their main residence for the time being.