Rob Cesternino Welcomes Son Dominic James

09/30/2013 at 02:00 PM ET

It’s a boy!

Two-time Survivor contestant Rob Cesternino and his wife, Nicole, welcomed son Dominic James Cesternino on Sunday, Sept. 29, the couple tells PEOPLE exclusively.

Dominic entered the world at 5:00 p.m., weighing 8 lbs. and measuring at 20 inches. Although doctors induced Nicole’s labor at 6:30 p.m. the night before, it took nearly 23 hours for Dominic to be born.

“Nicole and I couldn’t be more happy with our perfect baby boy,” Cesternino, 34, tells PEOPLE. “Finally seeing him for the first time was such an amazing moment and we’ll both treasure it forever.”

“Nicole and Dominic are both happy and healthy and doing great,” he adds.

This is the first child for Cesternino, who placed third on Survivor: Amazon and competed on Survivor: All Stars. He married Nicole, a fitness blogger and yoga instructor, in 2010.

Rob Cesternino Welcomes Son Dominic James Courtesy Rob Cesternino

Rob Cesternino Welcomes Son Dominic James Courtesy Rob Cesternino

— Steve Helling

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Showing 9 comments

Niko on

Cesternino should’ve won Survivor Amazon, sorry Jenna:) Congrats on the baby boy! Had no idea his wife was expecting..

Greetings on

Congratulations Rob! I recently watched some clips of you on Survivor. By far you are the funniest contestant the show has ever had! Whenever you said something about psycho Matt the whole household would crack up. I’m glad you found someone to spend the rest of your life with. Heidi really missed out!

Micaela on

love you rob wishing you and your family all the best 🙂

Audrey H. on

Congrats! I love these two and follow their podcast religiously. Best of luck to them 🙂 Yay!

Hockeymama on

Beautiful family!

Would love to see him on Survivor again, he was hilarious!

Guest on

Awww, so cute!!

Anonymous on

Congrats to them! And how refreshing to hear about an induction that apparently didn’t end in a C-section (unfortunately, a lot of the do!). 🙂

Tee on

Congrats, he has Daddy’s downward eyes. He’s adorable!

Carrie on

Is it just me or do they look like siblings??? They have the same nose!!! Yikes!