Chelsea Clinton Leaves the Hospital With Baby Aidan - See the Pics!

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Chelsea Clinton and her newborn son are headed home!

Clinton left Lenox Hill Hospital in New York City on Monday after giving birth to a baby boy, Aidan, on Saturday.

The former first daughter was all smiles when she stepped out of Lennox Hill Hospital with her parents, Bill and Hillary Clinton, and husband Marc Mezvinsky by her side.

WATCH: Chelsea Gives Birth to Second Child!

Jason Winslow / Splash News

The mother of two wore a blue floral dress, reminiscent of the frock the Duchess of Cambridge wore when she left the hospital after giving birth to Prince George in 2013.

On Sunday, Chelsea, 36, announced that she had welcomed her second child on Twitter with a sweet picture of her and her husband holding Aidan.

"Marc and I are overwhelmed with gratitude and love as we celebrate the birth of our son, Aidan Clinton Mezvinsky," Chelsea wrote.

Aidan joins big sister Charlotte, who will be two in September, making their trio a family of four.

"Can't get enough! Thank you everyone for the warm wishes," Chelsea tweeted on Monday along with a cute picture of her holding her son.

WATCH: Clinton Family Shares First Pics of Chelsea's Newborn Son

Alessio Botticelli/GC Images

Both of Clinton's parents were present during the birth and have been very supportive along the way. In fact, even before Hillary welcomed her grandson into the world, she was already gushing about her family and how much it means to her to be a grandmother to Charlotte.

"Easy question! I am thrilled that Charlotte recognizes me and calls me Grandma," Hillary exclusively told ET in May when talking about her granddaughter. "I am thrilled that she'll occasionally ask her mother or father where I am and then, if I'm around, they'll FaceTime me."

"It means so much to me, I think in part because I was so close to my grandmother," Chelsea revealed about Hillary's special bond with Charlotte.

"I want my daughter to have that same relationship with my mom, and also, had I known that Charlotte would give me the gift of seeing my parents as grandparents and seeing just how much they love her and how interested they are in every part of her life, it gives me a window into clearly how much they loved me when I was an infant," she added.

Hear more about the sweet bond between Hillary and her granddaughter as well has her plan to have a nursery in the White House, if she becomes president, in the video below.