"It's only the beginning... the beginning of forever," the couple wrote in a joint Instagram post on Thursday, June 2.
Derek and Hayley, 27, shared a photo from the beautiful proposal, with Derek holding Hayley in his arms as she was straddling him. The couple was surrounded by tall white candles, white rose petals all over the floor, and tall cream fan palm leaves.
Derek sparked engagement speculation on Wednesday when he posted a sweet video montage from his recent getaway with Hayley to Monaco, France.
"Wow, incredible to experience Monaco Grand Prix for the first time. Even better getting to experience it with my love [Hayley]," the former World of Dance judge captioned the video.
In the video, Hayley and Derek enjoyed sailing on a yacht and they appeared to have an intimate date night on the water.
Hayley managed to cover up her left hand's ring finger in all of the clips, suggesting Derek had popped the question and they wanted to wait a little longer to share the news. Eagle-eyed fans, however, caught on.
Derek was asked about whether he was getting ready to propose to his girlfriend in late 2019, but he played coy.
"Who knows. You never know. It's the end of a decade, sorry, it's the beginning of a new decade!" Derek told Us Weekly at the time.
"2020 vision, we'll see," Derek adding shortly before New Year's Eve that year.
Derek insisted in 2017 he didn't feel any pressure to tie the knot and have children given he comes from such a big family.
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"Not at all!" Derek had explained to Us at the time. "Oh, no. If anything, [we have] a lot of [family], there's like 55 nieces and nephews. We got plenty, we're fine!"
Dancing with the Stars premiered in 2005 on ABC, but Walt Disney Television executive Dana Walden said the popular show leaving its original network supports ABC's initiative to "significantly" expand its unscripted slate.
"At first, I was like, 'WHAT? What does that mean?!'" Derek admitted of the show's big move to a streaming service.
"But within 10 seconds, I was very, very excited about it. I think that's where a lot of things are moving toward."