She Said "Yes!"Daniel Baldwin Engaged to Robin Sue Hertz Hempel!

Congratulations are in order for Daniel Baldwin!

The 54-year-old actor’s rep confirmed he is engaged to his girlfriend of one year, Robin Sue Hertz Hempel, 48.

Daniel — who is the second oldest of the four famous Baldwin brothers — surprised his future wife by hiding a nearly five-carat, custom designed engagement ring in a glass of cranberry juice. Upon finding the ring amongst the ice, Robin exclaimed, “Yes!,” the rep revealed.

Daniel and Robin in September 2014.

“I couldn’t be more overjoyed Robin said yes,” the ‘Homicide: Life on the Street’ star told People. “Next to the birth of my children, this is the happiest day of my life.”

This will be the fourth marriage for Daniel, who was previously wed to Cheryl Baldwin in the 1980s, Elizabeth Baldwin from 1990 – 1996 and Joanne Smith from 2007 – 2012.

He is also a father to five children: son Atticus, 18, and daughters Kahlea, 30, Alexandra, 20, Avis, 6½, and Finley, 5.