After three years and two babies, Nicole Richie and her rock star beau are finally ready to take the plunge. Richie is engaged to marry longtime boyfriend Joel Madden.

The former reality starlet and Hollywood socialite reportedly announced news of her upcoming wedding to the Good Charlotte rocker during an appearance on The Late Show with David Letterman on Monday night, according to E! News.

“Yep. I’m engaged. Very happy. Yeah we’ve been engaged for a while so you’re all kind of late on that. But, thanks for the hoopla all the same,” Joel said in a post to his Twitter page on Monday. He has since removed the message.

The episode, taped on Monday, is expected to air on Letterman this Friday. Nicole and Joel are the parents of two — 2-year-old daughter Harlow and son Sparrow, born in September.