The winner of Survivor: Heroes vs. Villains finally makes his gal pal happy on Marriage Boot Camp: Reality Stars

Nothing screams “marry me” more than a pair of green pants and a declaration of selfishness!

On Friday’s season 2 finale of Marriage Boot Camp: Reality Stars on WE tv, Tyson Apostol from Survivor: Tocantins and Survivor: Heroes vs. Villains finally pops the question to his longtime gal pal Rachel Foulger, PEOPLE has learned exclusively.

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“Rachel, for the last six and a half years I’ve focused way too much on what I want and my happiness,” said a green-pants-wearing Apostol during the finale’s ring ceremony. “It’s been selfish of me. From here on out, I want to focus on our happiness together.”

“We had to go through this entire marriage boot camp just to get that one on-the-knee proposal,” says Foulger. “We did it. I’m walking away from this being engaged.”

Apostol, who took home $1 million in 2013 for winning Survivor: Heroes vs. Villians, joined the cast of the WE tv show because he had a hard time committing to Foulger.

Even after that big victory, Apostol didn’t seem too hellbent on proposing to her when he talked to PEOPLE in 2013. “I’m content with how they are now but wouldn’t be opposed to things progressing,” he said. “Rachel really, really wants things to progress, so we will probably take her direction on that.”