The baby was born at 6pm on Sunday 21 March , weighing 8lbs 4oz.
Ms Tindall delivered the baby at home, Mr Tindall has revealed on his rugby podcast, The Good, The Bad & The Rugby, which he hosts with James Haskell and Alex Payne.
“Sunday got even better because a little baby boy arrived at my house,” he said.
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Mr Tindall explained how the couple had intended for the birth to take place at hospital.
However, the baby “arrived very quickly”, he said, and Ms Tindall delivered her son on the bathroom floor at home.
Mr Tindall explained that he ran around the house trying to find a mat for his wife to give birth on.
“So yeah, it was running to the gym, get a mat, get into the bathroom, get the mat on the floor, towels down, brace, brace, brace,” he said.
Lucas is the couple’s third child. They welcomed Mia Grace Tindall, seven, in 2014, and Lena Elizabeth Tindall, two, in 2018.
The rugby player had previously joked about wanting a boy next.
The newborn baby is the Queen and the Duke of Edinburgh’s 10th great-grandchild and is 22nd in line to the throne.
The Tindalls got married on 20 July 2011 at Canongate Kirk in Edinburgh, Scotland. A reception took place later in the evening at Holyroodhouse.
The wedding was attended by senior members of the royal family, including the Queen and Duke of Edinburgh, the Prince of Wales and the Duchess of Cornwall, the Duke and Duchess of Cambridge, and Prince Harry.
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