"It's only the beginning... the beginning of forever," the couple wrote in a joint Instagram post announcing their engagement.
Derek and Hayley 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 had sparked engagement speculation earlier when he posted a sweet video montage from a 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.
