The former Young and the Restless star gave birth to son Stephen L. Hightower III at 7:45 a.m. He weighed in at 7 pounds, 8 ounces.
"Being new parents has brought us closer together, it's all about teamwork," Mitchell, 27, tells the magazine. "Little Stephen is awesome. Being a mom is the greatest role I will ever play."
This is the first child for the couple, who wed in 2011.