"I knew that I was really unhappy without her,” the twice-divorced Hasselhoff old the U. magazine, explaining why he held off on popping the question to Roberts, who is 27 years his junior.
"I waited to propose because I thought I was too old for her."Roberts almost couldn’t believe it when her older beau got down on one knee to ask for her hand in marriage. He's asked me before, but it was never for real," the blonde Wales native revealed to the outlet.
The pair were spotted last week walking hand-in-hand on their way to a charity fundraiser in LA.
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Hasselhoff first met model Roberts, 36, in 2011 when he was signing an autograph for her.
The pair quickly struck up a romance and have been inseparable ever since.
“Going into this thing knowing somebody had to go home, that’s the worst part of the whole thing.” He and the other remaining contestants said they’re now turning their attention to perfecting next week’s dance.
Half the group will perform the quickstep while the other half do the jive.
They share daughters Taylor, 25, and Hayley, 23, together.