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Published 18:10 18 Jun 2015 BST
The visit was part of a grand European Tour.
For 6-week-old Princess Charlotte, Michelle brought a personalised alpaca baby blanket and an American-made Amish rocking chair.
Charlotte's big brother George, Prince William and Duchess Kate's oldest child, received an all-American red Berlin Flyer Pee-Wee Wagon.
A first portrait of the royal babies was unveiled recently.
The visit kicked off a European tour to promote Michelle's Let's Move! initiative, along with her Let Girls Learn program, which focuses on improving education for adolescent girls.
While in London, Michelle also paid a visit to the Mulberry school and discussed how the USA and UK are working together to expand young girls' education around the world.
The first lady told the students: “When I look at all these young women, I see myself.”
Michelle discussed women's education at the Mulberry School.
Michelle was accompanied by her daughters Sasha and Malia, as well as her mother, Mrs. Marian Robinson, and will reportedly find time in her itinerary to visit cultural sites on the week-long trip.Explore more on these topics:
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