David Hasselhoff Engaged to Girlfriend Hayley Roberts - Find Out How He Popped the Question

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David Hasselhoff and longtime girlfriend Hayley Roberts are engaged!

The Baywatch star, 63, surprised Roberts, 36, by popping the question during a five-year anniversary lunch in Malibu, California, Hello! Magazine reports.

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Roberts admitted that she didn't even think Hasselhoff wanted to get married, saying that they hadn't really discussed the possibility.

"I genuinely had no idea he was going to propose," Roberts told Hello!. "I thought he was just joking around at first. 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 10 minutes later."

Hasselhoff explained that the idea had been on his mind for a while. In fact, he was planning on proposing during an earlier trip to the Maldives.

"I'd been carrying the ring around for weeks," Hasselhoff said. "It's visited nine different countries."

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The happy couple reportedly first met when Hasselhoff was signing autographs in a hotel lobby during his stint as a Britain's Got Talent judge.

This will mark Hasselhoff's third marriage. He previously wed soap star Catherine Hickland in 1984. After the estranged couple split in 1989, Hasselhoff married actress Pamela Bach the same year, but they later called it quits in 2006. Hasselhoff and Bach have two daughters together -- Taylor, 25, and Hayley, 23.

"I told my girls what I was going to do, and they were both really supportive," Hasselhoff said. "It's tough. No one wants to see their parents split up. But they love Hayley and they're just happy for me."