Castle

That sound you hear? Castle fans squealing with delight.

That's because after three years of will-they-won't-they sexual tension, Castle (Nathan Fillion) and Beckett (Stana Katic) are finally going to share their first kiss.

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The actors locked lips Thursday while filming a scene for an episode to air in January. The long-awaited smooch comes after a stakeout during another effort to solve the murder of Beckett's mother.

Castle die-hards aren't the only ones who have been waiting for the mystery writer and detective to take their relationship to the next level. Katic told TVGuide.com earlier this season that she thinks now is the perfect time for the duo to get together.

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"I think they make sense for each other," she said. "I'm the only one on the entire team who's like, 'So what if they get together?' ... Maybe I'm overly romantic thinking that when people get together, they should still have that spice and fire. They should still have the same swordplay."

Are you excited for the kiss?