Crying! Curls! A Car! The Must-See Photos from Josiah Duggar's Wedding to Lauren Swanson

Josiah Duggar is a married man! The Counting On star wed Lauren Swanson on June 30 at John Brown University Cathedral of the Ozarks in Siloam Springs, Arkansas.

"What a joy it is to be husband and wife!" the couple told PEOPLE of the special Duggar family celebration. "Our wedding day was absolutely perfect!"

Seeing his bride walk down the aisle was "emotional," the 21-year-old shared. "It was a powerfully emotional. It was overwhelmed with joy and tears!"

After the nuptials, the couple gathered with family.

"It just feels full of such joy," the bride said of tying the knot. "I feel so happy. It’s like a dream. I've prayed my whole life for God to bring me the right man that would lead to this day and He has!"

In keeping with other Duggar courtships and weddings, Josiah and Lauren didn't share a kiss until marriage.

"It was like an early Fourth of July! It was explosive and wonderful," Lauren told PEOPLE, with Josiah adding, "It was perfect, but I plan on practicing more for the next 70 years or so to continuing perfecting it!"

Lauren kept her hair down, adding delicate pearl detailing to her curls. Her white boatneck gown was "exactly what I wanted," she shared. "I loved the shape, the color, the veil. I am so glad I found it!"

"My family encouraged me to look for every chance to serve Lauren — to genuinely serve her and put her first, ahead of myself," Josiah said of the advice he received from his parents.

"My parents encouraged me to be Josiah's biggest fan, offer him support and encouragement. Think the best, never assume the worst. Be his biggest cheerleader," Lauren added.

At the reception, guests enjoyed cupcakes, a candy bar and a strawberry shortcake-flavored, heart-shaped wedding cake before the couple drove off into the sunset in this decorated car.

When asked by PEOPLE what they're most looking forward to in newlywed life, Josiah answered, "Just being together. Spending time together, having fun together, serving Christ together."

"We both love kids a lot. We are looking forward to raising a family together," Lauren added.