Burke representative Nancy Iannios told People: "Brooke had a very smooth delivery with David by her side. They are thrilled to be back at home now with their gorgeous baby girl; it's a very exciting time for them."
Heaven's two older sisters are Neriah, 6, and Sierra Sky, 4, Burke's children with former husband Dr. Garth Fisher. The couple split in 2005, one year before Charvet reportedly proposed marriage to Burke.
The current couple plans to marry sometime this spring when they are "less stressed out," People said.