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Helen Grace Hightower, born to a surrogate, weighed in at healthy 7lbs, 2oz, a rep for the pair tells PEOPLE.
This is the second child for De Niro, 68, and Hightower, 56, who are parents to 13-year-old son, Elliot, born just one year after the couple wed in 1997.
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The "New Year’s Eve" star also has four other children from previous relationships.
Congrats to the happy family!