Musk made the announcement on Twitter, sharing two photos of the newborn. Musk said the baby and mother are doing fine.
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He also responded to people's questions confirming the baby was a boy and claiming that his name is X Æ A-12. The name created a lot of confusion online because of the unusual letters and numbers.
However, Grimes' tweeted an explanation of the name Tuesday night breaking down what it actually means.
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The baby is Grimes' first child. It is Musk's sixth. He has five sons from his marriage to ex-wife, Justine Wilson.