Prior to his relationship with Roberts, Hasselhoff was wed to actress Pamela Bach from 1989 until the couple called it quits in 2006.They share daughters Taylor, 25, and Hayley, 23, together.

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"I waited to propose because I thought I was too old for her."PHOTOS: Quickest Celebrity Engagements Ever Roberts almost couldn’t believe it when her older beau got down on one knee to ask for her hand in marriage."I thought he was just joking around at first.

He's asked me before, but it was never for real," the blonde Wales native revealed to the outlet.

"I cried so hard that he didn't get around to actually asking, 'Will you marry me?

' until about 10 minutes later."PHOTOS: Engagements of the Year!

The Baywatch actor popped the question to girlfriend Hayley Roberts after nearly five years of dating, reports Hello! Hasselhoff, 63, surprised Roberts, 36, with the proposal while on a romantic beachside picnic in Malibu. I genuinely had no idea he was going to do that,” Roberts told Hello! “I’m still overwhelmed.” Keep up with your favorite celebs in the pages of PEOPLE Magazine by subscribing now.

“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 thought he was just joking around at first,” she said. ’ until about ten minutes later.” “I’ve asked her to marry me before but those times were for fun,” added Hasselhoff.“This time, it was special and from my heart.” The actor acknowledged the engagement on Twitter, thanking his fans for their well-wishes. Tanks for all Congratulations to me & Hayley,” he wrote. David Hasselhoff and his longtime girlfriend, Hayley Roberts, are engaged after five years of dating, the actor’s rep confirms to Us Weekly.PHOTOS: Celebrity Engagement Rings of 2016"Thanks for all Congratulations to me & Hayley," the Baywatch alum, 63, tweeted on Tuesday, May 3.Hasselhoff first met model Roberts, 36, in 2011 when he was signing an autograph for her.The pair quickly struck up a romance and have been inseparable ever since."I knew that I was really unhappy without her,” the twice-divorced Hasselhoff old the U. magazine, explaining why he held off on popping the question to Roberts, who is 27 years his junior.