Alec Baldwin and Hilaria Bring Baby Carmen Home
08/25/2013 AT 05:00 PM EDT
Just two days after welcoming their first child together, the new mom left the hospital with their baby girl, who was carried by her smiling papa in a car seat covered with a pink baby blanket.
The yoga instructor, 29, wore a flowing black maxi dress.
"She is absolutely perfect," Hilaria Tweeted as she announced Carmen Gabriela's arrival on Friday.
The former 30 Rock star's oldest daughter, Ireland, also expressed excitement about the arrival of her half-sister and posted a welcome note on her Tumblr with advice for her little sis.
"You have been born into one crazy family," the 17-year-old wrote. "We are going to have so much fun together … I promise you I will always be there for you no matter what!"