Val Chmerkovskiy and Jenna Johnson make a great duo on and off the ballroom floor. 

The Dancing With the Stars pros first met in 2014 when they both appeared on the hit reality series, and hit it off almost right away.

After a few years of dating, the couple got engaged in June 2018 during a trip to Venice, Italy. 

"My life has changed because of [her,]" Chmerkovskiy told PEOPLE at the time of their engagement. "And I find myself to be the best version of myself that I've ever been. She's awesome."

The two later tied the knot in April 2019 during a romantic ceremony in Rancho Palo Verdes, California, where they were joined by their closest family and friends, including Chmerkovskiy's brother Maks Chmerkovskiy and several DWTS cast members such as Lindsay Arnold, Witney Carson, Emma Slater, Sasha Farber, Mark Ballas, Cheryl Burke, Alan Bersten and Artem Chigvintsev.

Now, Chmerkovskiy and Johnson are getting ready to mark another big relationship milestone: They're going to be parents.

On July 15, PEOPLE exclusively revealed that they are expecting their first child.

"Everybody tells you, 'When you just relax and you don't put the stress on yourself, it happens for you.' That's exactly what happened," Johnson told PEOPLE. "I think it was exactly when it was meant to be. Our little baby was created with a lot of love. It all seems so magical and meant to be."

From their time on DWTS to their sweet appearances together, take a look back at their relationship timeline.  

RELATED: Everything to Know About Dancing With the Stars Season 31

The two first met on DWTS when Johnson joined the show as a troupe member in 2014. Chmerkovskiy had appeared on the show since season 2 but officially joined as a pro dancer starting with season 13 in 2011. 

In December 2014, the dancers appeared on stage together as they performed during Sway: A Dance Trilogy in New York City together. 

The couple started dating sometime in 2015, but didn't take their love public until February 2016, when they was spotted getting cuddly while out and about in West Hollywood for lunch. 

In late 2016, the couple had a brief breakup and Chmerkovskiy began dating Amber Rose in December 2016. After five months of dating, Chmerkovskiy and Rose split in February 2017. 

Just a few months after his split from Rose, Chmerkovskiy and Johnson teased their reconciled romance as they took a trip across Europe together. Though they didn't post any photos together, they each posted pictures from the trip on their respective social media profiles. 

A month later, Johnson and Chmerkovskiy confirmed they were back together as they attended Murgatroyd and Chmerkovskiy's wedding. Johnson even shared a cute photo of her and her beau with the newlyweds on her Instagram. 

RELATED: Maks Chmerkovskiy and Peta Murgatroyd's Relationship Timeline

The couple walked the red carpet together at the Industry Dance Awards in 2017. During the event, Chmerkovskiy opened up about his brother's wedding and whether he was ready to tie the knot himself. 

"Is that what it's called, the wedding bug? Or have I gained a different perspective on, you know, what love is and what happiness is?" he shared with Insider. "You know, I'm in a great place and I'm in love, and I'm very grateful for that."

As Johnson returned to DWTS for season 25 as a troupe member, Chmerkovskiy couldn't contain his excitement.  

"Jenna is a huge asset to the show," he told reporters during a taping for the show. "I think she's an incredible talent. I'm a huge fan. I think she's the best girl here, so I'm excited to see her here."

In October 2017, the couple had a fun double date with Chmerkovskiy's brother and sister-in-law as they dined out at Craig's in West Hollywood. 

During the DWTS season 25 finale, where Jordan Fisher and Lindsay Arnold took home the Mirrorball Trophy, Chmerkovskiy and Johnson put their love on display as they danced to Kelsea Ballerini's special performance of her hit single "Legends."

In the summer of 2018, Chmerkovskiy proposed to Johnson during a trip to Venice, Italy. Johnson announced the exciting news with two photos of her boyfriend getting down on one knee. 

"My life has changed because of [her,]" Chmerkovskiy told PEOPLE of Johnson. "And I find myself to be the best version of myself that I've ever been. She's awesome."

RELATED: 16 Couples Who Found Romance in the Dancing with the Stars Ballroom

A month after their engagement, the couple hit the red carpet together as they attended the premiere of Crazy Rich Asians in Hollywood, California.

The duo returned to the Industry Dance Awards again in 2018, getting close for a photo on the red carpet.

In November 2018, Chmerkovskiy and Johnson shared their wintry engagement photos exclusively with PEOPLE. 

"Wedding planning is very exciting," Johnson told PEOPLE at the time. "It's crazy how much has to go into one day, but we just want it to be a beautiful celebration for us and our families to enjoy."

After their engagement, the couple hit the road together at the end of 2018 as they took part in Dancing with the Stars: Live! A Night To Remember. They even shared a few numbers together during the tour. 

RELATED: A Look Back at 15 of Our Favorite Dancing with the Stars Dances Over the Years

In April 2019, the two tied the knot in Rancho Palo Verdes, California. Johnson wore a classic long-sleeved Vera Wang gown for the ceremony, while Chmerkovskiy wore a custom-made black velvet tuxedo designed by Brooks Brothers.

The couple was joined by their family and friends for the festivities, including Chmerkovskiy's brother Maks as his best man and Johnson's sisters Stacy Johnson Bills and Jill Zenger as her co-maids of honor. 

Shortly after becoming husband and wife, the two embarked on a romantic honeymoon in St Lucia, Saint Lucia. Johnson kicked off their getaway as she posted a snap of herself on the beach with the caption, "Honeymoonin'."

The couple made yet another appearance at the Industry Dance Awards in 2018, showing PDA as Chmerkovskiy dipped Johnson and leaned in for a kiss on the red carpet.

The duo got all dolled up to attend the premiere of Knives Out in Westwood, California.

Chmerkovskiy celebrated his first wedding anniversary with Johnson by sharing a cute photo of them eating cake in bed alongside a sweet rhyme in the caption: "I will love you from now till eternity. Happy April 13th, our wedding anniversary."

During an interview with PEOPLE, the couple shared how they've grown closer during the COVID-19 pandemic after purchasing their first house together.

"COVID allowed us time to be humans, not just artists, not performers, not working all the time," Chmerkovskiy told PEOPLE. "We've spent the last six years on the road. This happened exactly when it needed to happen. Everything we've done in this home, we've done."

The two looked like a Disney prince and princess as they attended the premiere of Amazon Studios' Cinderella film in Los Angeles, California. 

RELATED: JoJo Siwa, Iman Shumpert, and Other Contestants Who Made History on Dancing with the Stars

The couple matched in black ensembles as they attended the GLAAD Media Awards arm-in-arm in April 2022 as DWTS was up for outstanding reality program.

In July, the couple exclusively revealed to PEOPLE that they are expecting their first child together.

"Everybody tells you, 'When you just relax and you don't put the stress on yourself, it happens for you.' That's exactly what happened," Johnson said. "I think it was exactly when it was meant to be. Our little baby was created with a lot of love. It all seems so magical and meant to be."

Johnson added that she thinks Chmerkovskiy is going to make an amazing parent when they welcome their newborn. "If he is anything like he is as a husband, he's going to be the best dad in the world," she said. "He is so selfless and loving. Between the two of us, is by far the more patient one. So I think, all of these little attributes are going to just make him an incredible dad.'"