Monaco royals Princess Charlene and Prince Albert II finally welcomed their legitimate heirs to the throne. On Wednesday, the 36-year-old Monaco princess gave birth to twins that were named Prince Jacques Honoré Rainier and Princess Gabriella Thérèse Marie. They were born in the Princess Grace Hospital Monaco.

The baby news for the royal Monaco couple came after Princess Charlene and 56-year-old Prince Albert II announced that they were expecting back in May. The Monaco royals have been married since 2011 and according to Us Weekly, the confirmation that the princess was pregnant with twins was announced in October.

"It is with immense joy that TT.SS.HH the Prince and Princess of Monaco have the great pleasure to announce the birth of their children," a press release from the Monaco palace said, as reported by People.

The birth of the twins marked Princess Charlene's first two children while the third and fourth for Prince Albert II. Us Weekly reported the prince is already a father to 22-year-old Jazmin Grace Grimaldi and 11-year-old Alexandre Coste, both children from his previous relationships.

In a statement released by the palace, Monaco's legitimate heirs were doing well. According to BBC News, Princess Gabriella was born first with Prince Jacques arriving two minutes later. The twins were born via a caesarian section.

Prince Albert II is the son of the late Hollywood actress Grace Kelly and Prince Rainier while Princess Charlene is a Zimbabwean-born former Olympic swimmer.

Ahead of the birth, Prince Albert has announced that the first child to be delivered would become next-in-line to the throne, if the twins were of the same gender. But since the twins are mixed sex, The Daily Mail reported that Jacques takes the role of the future Prince of Monaco because of the Mediterranean principality's male inheritance laws.

During Princess Charlene's pregnancy, the gender of the twins had been kept secret even from Prince Albert II. Meanwhile, to mark the twins' arrival, 42 canon shots were fired.

In accordance with the historic custom established by the treaty of Péronne in 1641, the newborn prince shall receive the title of Marquis of Baux in Provence aside from being the first in line for succession. While, the newborn princess will receive the title of Countess of Carladès in Auvergne and is the second child in the line of succession.    

Since the 13^th Century, Princess Charlene and Prince Albert II's babies are the first twins in the royal Monaco household.