David Hasselhoff Is Engaged!

08/04/2016 12:18 pm EDT

The Hoff is ready to say "I do!"

According to Hello! Magazine, the actor recently proposed to his girlfriend of five years, Hayley Roberts, while on a romantic Malibu getaway complete with a picnic on the beach.

"I thought he was joking around at first," Roberts said. "He's asked me before, but it was never for real. Then he pulled out the ring. I cried so hard that he didn't get around to actually asking, 'Will you marry me?' until about ten minutes later." She added that she was "still overwhelmed" by the gesture.

Hasselhoff said he debated the big decision because of the couple's 27-year age difference.

"I had a saying, 'You don't get married because you want to live with someone, you get married because you can't live without them,'" he said. "I felt that way. I knew that I was really unhappy without her. I waited to propose because I thought I was too old for her."

As for his blushing new fiancee, she said the age gap was never an issue for her. "I don't worry about it. I don't want to miss out on being with someone I love because of what might happen down the line."

Hasselhoff also confirmed his upcoming nupitals on Twitter, thanking fans on Twitter, who tweeted their congratulations.

"Hello! Thanks for all Congratulations to me & Hayley&GUMBALL & 2nd season premiere of Hoff The Record on Dave this Friday ! BEST WEEK EVER," he tweeted.

The Baywatch actor has two daughters with his second wife, saying they were both "really supportive."

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