Beyoncé & Jay-Z Leave Hospital with Daughter

By Sara Hammel

01/10/2012 at 04:15 PM EST

Ecstatic new parents Beyoncé and Jay-Z have taken daughter Blue Ivy home from New York City's Lenox Hill Hospital, the medical center has confirmed.

The family left under cover of darkness at 1:30 a.m. Tuesday, the New York Daily News reports.

Observers noted a procession of vehicles with blacked-out windows leaving from the hospital’s side gate, reports the newspaper. Two black SUVs helped facilitate the departure, with one blocking traffic so the other could move unobstructed.

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The superstar couple's 7-lb daughter was born Saturday. They called the birth "emotional and extremely peaceful," adding, "we are in heaven."

"It was the best experience of both of our lives," Beyoncé and Jay-Z – who has already released a song devoted to his baby girl – said. "We are thankful to everyone for all your prayers, well wishes, love and support."