The royal mum-of-three, 42, checked into The London Clinic on January 16 where she underwent planned “abdominal surgery”.
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Kensington Palace announced her procedure the following day – confirming it was not cancer related – and that she would stay in for around 10 to 14 days.
On Monday, the Princess of Wales was finally allowed home to her kids after 13 days to recover fully.
It’s understood the cheeky trio were at school when Kate made it home in the morning.
It is likely the cute reunion would have taken place when they arrived home to Adelaide Cottage at the end of the day.
Prince William was at his wife’s side throughout her stay in hospital – with regular visits.
However, Prince George, 10, Princess Charlotte, eight, and Prince Louis, five, were not taken to see their mum.
It was revealed that the Waleses wanted the children to stick to their normal routine – so to not disrupt their schooling.
Even with carrying out royal duties abroad from time-to-time, Kate has never been away from her children for this long.
She previously told how she loves to Facetime them when she does have to be away – although it isn’t clear if she did from her hospital bed.
As Wills drove Kate home yesterday from hospital, Kensington Palace said she “is making good progress”.
A palace spokesperson said: “The Princess of Wales has returned home to Windsor to continue her recovery from surgery. She is making good progress.
“The Prince and Princess wish to say a huge thank you to the entire team at The London Clinic, especially the dedicated nursing staff, for the care they have provided.
“The Wales family continues to be grateful for the well wishes they have received from around the world.”
It came just hours before the King was also discharged from the same hospital.
It was announced nearly two weeks ago that Charles would go in for surgery for an “enlarged prostate”.
After originally only expecting to spend one night in hospital, the King stayed in over the weekend.
Charles was yesterday given the all-clear to head back home where he can finish his recovery.
As he left the clinic on Monday afternoon, he smiled and waved to crowds – appearing to be in good health.