"My happiness for Nicole and Joel knows no boundaries," Lionel said in a statement to Access Hollywood on Tuesday.
"Are you engaged? Are you planning to get married?" Dave asked her in the interview which will air on Friday, February 19.
"We actually recently are engaged, yes," Nicole revealed.
During her interview with Dave, Nicole beamed over her two kids with Joel — son Sparrow James Midnight, 5 months; and daughter Harlow, 2 – saying her life has changed "100 percent… in the best way possible" since becoming a mom.
Joy over the kids was something proud grandpa Lionel also echoed.
"They have given me two beautiful grandchildren, Harlow and Sparrow, and have proven to be great parents," Lionel – who adopted Nicole at age 9 — continued. "I am not sure who is luckier, Nicole and Joel to have each other, or me, to have both of them in my life. I cannot wait to give away the bride!"
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