"We're really, really excited to meet her. It's been a long time coming," Lauren told ET.
"I've been pregnant for seven-ish months, so it's about time to get my body back and to meet our baby. We're really happy."
Arie said it's been enjoyable to be by Lauren's side during her first pregnancy.
"I think it's cool, you know?" the pro racing driver-turned-real estate agent noted.
"We're experiencing being new parents, so we're on all the apps, learning about the development of the baby, and it's just been an awesome ride so far. I can't wait for her to come."
The couple previously revealed in March their baby girl's name -- which they had picked out since Christmas -- is something "beautiful" and original.
Arie and Lauren won't reveal the moniker until their first child is born, but the mom-to-be reiterated to ET, "It was a name we kind of tweaked into something unique. We don't really know anybody who's named that."
The almost-parents are reportedly headed to Bermuda for a babymoon so they can spend some alone time together before their little bundle of joy arrives.