Bret Michaels and Kristi Gibson are engaged – finally!

It’s no longer only a tease: Bret Michaels asked his on-off girlfriend of 16 years, Kristi Gibson, to marry him on Monday night’s finale of his VH1 reality show, Bret Michaels: Life As I Know It – and she said yes!

The first thing they did afterwards? They went home to tell their daughters, Raine, 10, and Jorja, 5, the great news, Michaels tells PEOPLE.

The rock star told them, “I did it! We’ll all be together forever! Family hug!”

Full story: Bret Michaels and Kristi Gibson Are Engaged – Finally! – Engagements, Bret Michaels : People.com