Ginnifer Goodwin and Josh Dallas

Ginnifer Goodwin and Josh Dallas will have their fairy-tale ending: The Once Upon a Time co-stars have gotten engaged.

"We are so thrilled to announce our engagement and can't wait to celebrate with our friends and family, including our second family at Once Upon a Time," the couple said in a statement to People.  

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Goodwin, 35, and Dallas, 31, met on the set of the ABC series and took their relationship public in 2012. Their Once characters, Snow White and Prince Charming, are married.  

This will be the first marriage for Goodwin and the second for Dallas, who divorced Sherlock actress Lara Pulver in 2011 after four years.

Once Upon a Time airs on Sundays at 8/7c on ABC.