The Duke and Duchess of Cambridge shared a personal message to Meghan and Harry on Sunday, after the couple announced thebirth of their second child, daughter Lilibet “Lili” Diana Mountbatten-Windsor.

“Congratulations to Harry, Meghan and Archie,” added Kate, 39, and William, 38.

Meghan, 39, and Harry, 36, also received awarm messagefromQueen Elizabethand the rest of the royal family.

“The Queen, The Prince of Wales and The Duchess of Cornwall, and The Duke and Duchess of Cambridge have been informed and are delighted with the news of the birth of a daughter for The Duke and Duchess of Sussex,” a Buckingham Palace spokesperson said in a statement.

In their birth announcement, Meghan and Harry shared that their daughter was born on Friday in California — and that the couple named her after the Queen as well as Harry’s late mother,Princess Diana.

“Both mother and child are healthy and well, and settling in at home,” the statement read. “Lili is named after her great-grandmother, Her Majesty The Queen, whosefamily nickname is Lilibet. Her middle name, Diana, was chosen to honor her beloved late grandmother, The Princess of Wales.”

“This is the second child for the couple, who also have a two-year-old son named Archie Harrison Mountbatten-Windsor,” the statement continued. “The Duke and Duchess thank you for your warm wishes and prayers as they enjoy this special time as a family.”

Can’t get enough ofPEOPLE’s Royals coverage?Sign up for our free Royals newsletterto get the latest updates onKate Middleton,Meghan Markleand more!

Prince Charles, Prince William, Kate Middleton, Meghan Markle and Prince Harry.Samir Hussein/WireImage

Prince Charles, Prince of Wales, Prince William, Duke of Cambridge and Prince Harry

Harry and Meghan went on to share apersonal messageabout their bundle of joy on their theirArchewell Foundationwebsite.

“On June 4th, we were blessed with the arrival of our daughter, Lili,” theywrote. “She is more than we could have ever imagined, and we remain grateful for the love and prayers we’ve felt from across the globe. Thank you for your continued kindness and support during this very special time for our family.”

Listen below toour daily podcast PEOPLE Every Dayfor more onPrince HarryandMeghan Markle’s new daughter, Lilibet Diana.

source: people.com