October 28, 2013 04:55 PM

Marion Curtis/Startraks

Cue the Carlton dance: this little prince has arrived!

Former Fresh Prince of Bel Air actor Alfonso Ribeiro, 42, and his wife Angela welcomed their first child together on Sunday, Oct. 27, his rep confirms to PEOPLE.

Son Alfonso Lincoln Ribeiro Jr. was born at 10:45 a.m. weighing 7 lbs., 10 oz.

“Alfonso Jr is home, happy and healthy,” the rep tells PEOPLE. “His parents are excited to begin their journey with him!”

“We are so blessed,” the proud papa Tweeted shortly after his son’s arrival.

Ribeiro later added, “We also want to thank our amazing Dr. Jason Rothbart. He was so great and a calming influence in the room.”

Ribeiro — who is already dad to daughter Sienna, 9 — and Angela announced the pregnancy in May.

— Anya Leon with reporting by Julie Jordan

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