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
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.
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."