Maksim Chmerkovskiy and Peta Murgatroyd of “Dancing With the Stars” are engaged! The two dancing professionals and off-screen lovebirds took their relationship to the next level Saturday night when Maks proposed during a performance of “Sway: A Dance Trilogy” at the Olympia Theater in Miami.

The audience watched Maks, 35, get down on one knee -- and based on the video circulating, the moment was just as romantic as it sounds!

“I’m in love with you, and I want to be in love with you for the rest of my life,” Maks said to Peta. “And if you’ll have me, I want you to be part of mine.”

Watch the full video of the proposal below:

Peta, 29, was visibly emotional, but said the magic word when asked if she would marry him – “yes!” Maks shared a photo of the special moments on Instagram. Peta also took to the social media site to share a picture that appears to have been taken after the show.

“I said yes!!!!!!” she captioned an image of her kissing her fiancé at a bar. “You have my heart forever my love. Love always wins @Maksimc.”

Maks and Peta began dating in 2012, but called off their relationship after a couple of months. Speculation that the two had rekindled their love arose this May when they were photographed holding hands. A source told E! News at the time that the former couple was “simply warming up and not going full-speed ahead on their relationship.”

It’s certainly “full-speed ahead” now, and their “Dancing With the Stars” co-stars couldn’t be happier for them. Many took to Twitter to wish them the best.

“I love the two of you with all my heart,” Maks’ brother, Val Chmerkovskiy, wrote on Instagram. “You have my brothers loyalty, heart. His one and only for the rest of his life. You’re family now and that makes you my sister, the second most important woman in my life. What’s mine is yours. Forever and always. Petachka your team got numbers now #trapqueenfolife #famovereverything @petamurgatroyd @maksimc.”

Sharna Burgess also shared how happy she was for the two, writing on Instagram, “It’s about bloody time!!!!!”