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.

“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.”