J.R. Martinez/Instagram
November 14, 2017 04:22 PM

J.R. Martinez and Diana Gonzalez-Jones are engaged!

The Army corporal turned actor, who survived a 2003 Iraq bombing, shared the exciting news on Instagram on Sunday with a few happy snapshots of the longtime couple from the momentous occasion.

“It wasn’t easy but we did it. Now we’re doing it. 💍 Who cares that our daughter was crying due to the fact that she fell right before and hurt her knee. We were basking in joy!” Dancing with the Stars winner Martinez-Jones, 34, captioned the post, which featured three smiling images of the couple, including one with their 5-year-old daughter, Lauryn Anabelle.

J.R. Martinez/Instagram
J.R. Martinez/Instagram

The Iraq war vet met Gonzalez-Jones in 2008, when he joined the cast of All My Children while she was working as an assistant to the show’s executive producer. The pair started out as friends but took their relationship to the next level in 2010.

“All this time I was looking for the perfect guy, and I had him right next to me,” Gonzalez-Jones told PEOPLE in 2011. “We were so good as friends that romantically, we just clicked right away.”

A month after Martinez was crowned champion of season 13 of DWTS in 2011, he and Gonzalez-Jones announced that they were expecting. They welcomed Lauryn in May 2012.

WATCH: J.R. Martinez: Being a Dad Is Surreal

But 18 months after her birth, the pair decided to split. “Diana and I have ended our relationship. However, we are committed to working together to raise our daughter in a healthy and happy environment,” Martinez told PEOPLE exclusively.

Despite enduring ups and downs throughout their relationship, Martinez-Jones shared in his social media post that he has learned about “growth” and is now ready to walk down the aisle.

He added the following hashtags to his engagement reveal: “#commitment #putaringonit #forever #growth #wedidit #engaged.”

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